02359a98ae
Implement connection establishment and server startup and shutdown. ( #712 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-28 10:50:30 +01:00
88805a301d
Trim all submaps when pure localization trajectory is finished. ( #563 )
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Fixes #560
based on #562
2017-11-28 10:21:55 +01:00
bebe021b04
Serialize fixed frame pose data. ( #689 )
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Similar to #666 and #548 .
2017-11-28 09:44:35 +01:00
1c7183d5c4
VoxelFilter for TimedPointCloud, Filter method. ( #710 )
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This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
2017-11-27 15:12:07 +01:00
c292d76f86
Test ImuTracker ( #711 )
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Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
2017-11-27 14:46:32 +01:00
cd289bbcee
Introduce RPC class and start wiring up in Service ( #701 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-24 23:41:58 +01:00
f6a7dfd07b
Update Travis Docker file for Trusty to build gRPC code ( #709 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-24 22:08:51 +01:00
7e82ac3bbf
Make IMU cost functions internal. ( #708 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-24 15:29:48 +01:00
79b83b92b2
Make the MotionFilter internal. ( #707 )
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Also moves it from mapping_3d to mapping since it is used
in both 2D and 3D SLAM.
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-24 14:01:07 +01:00
0084f14c1c
CeresScanMatcher target_translation ( #702 )
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For its translation cost function, CeresScanMatcher now takes
a target translation as an argument instead of a pose, which
was confusing.
2017-11-24 12:26:14 +01:00
0819e52a9c
Make the LocalTrajectoryBuilders internal. ( #704 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-24 10:39:12 +01:00
8e6101de5c
Make the OccupiedSpaceCostFunction internal. ( #703 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-23 18:04:36 +01:00
70a0f41364
Remove unused code. ( #699 )
2017-11-23 16:39:55 +01:00
9bfc52d878
Rename arguments of CostFunctors to target_ ( #700 )
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Rename constant targets of cost functors to target_*.
Pass only translation to Translation cost functors.
2017-11-23 16:04:49 +01:00
38eeb17164
Introduce gRPC server, service and rpc handlers ( #692 )
2017-11-23 15:37:30 +01:00
ec034b13bc
Do not install global_trajectory_builder.h. ( #698 )
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This moves the global_trajectory_builder.h header under
cartographer/internal and changes the CMakeLists.txt to
not install internal headers.
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-23 14:47:29 +01:00
8f9f1cf44e
Fix debug build ( #697 )
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Similar to #418 .
2017-11-23 14:20:01 +01:00
147c8166b6
ImuTracker uses conjugate. ( #693 )
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Normalized quaternions can be inverted with conjugate, which is faster.
The motivation for optimizing ImuTracker::Advance is that
per-point unwarping will call this for every point.
2017-11-23 13:50:44 +01:00
a8bd98680e
ExtrapolatePose uses fewer transforms. ( #694 )
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ExtrapolatePose avoids conversion to Rigid3d and computes translation
and rotation directly, which is faster.
Per-point unwarping will call this function for every point, so we
optimize it.
2017-11-23 12:27:26 +01:00
41bb8be0fb
Prepare 0.3.0 release ( #696 )
2017-11-23 10:27:08 +01:00
c233aaaac8
Update CMakeLists.txt to preprare for gRPC deps. ( #691 )
2017-11-22 16:29:01 +01:00
31f28b5097
Remove PoseEstimate. ( #670 )
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Replaces #620 .
Depends on switching `cartographer_ros` to use the new callback API for handling the last scan and pose estimate (googlecartographer/cartographer_ros#594 ).
2017-11-17 16:47:06 +01:00
aba4575d93
Rename 'submap_transforms' to follow terminology. ( #688 )
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https://google-cartographer.readthedocs.io/en/latest/terminology.html
Related to #602 .
2017-11-17 13:13:45 +01:00
b91ff8fe44
Extrapolate poses for ground truth relations. ( #687 )
2017-11-17 12:27:31 +01:00
055728af93
Rename options for consistency. ( #686 )
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"scan" is better named "node" if it refers to a node in global SLAM.
"penalty factor" is renamed "weight" for consistency with other similar options.
"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
2017-11-17 10:52:22 +01:00
5ee830e8cc
Cleanup and new features in Image code. ( #685 )
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- Removes stride_, since we know for a fact that it is always width * 4.
- Adds a constructor from a cairo surface.
- Adds a function that rotates the image by 90 degrees.
This is in preparation of adding a tool that can generate an image from a .pbstream.
2017-11-16 17:05:18 +01:00
0b4e7a9443
Refactor image related code. ( #684 )
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- Take immutable parameter as const ref instead of pointer.
- make kCairoFormat a global constant, since it is defined in many places in cartographer and cartographer_ros, but we rely on it actually always being the same value.
2017-11-16 15:07:05 +01:00
b9015f33a7
Filter early in AddRangeData. ( #681 )
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Filter earlier in 3D.
Combine two transforms to one in 2D.
2017-11-16 13:35:44 +01:00
16d62f45f0
Rename sparse_pose_graph options. ( #682 )
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The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-16 11:48:25 +01:00
a08a370ef3
Check if filtered point clouds are empty. ( #664 )
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The point cloud will be filtered by MaxRangeFilter before doing scan matching. For some special cases, the filtered point cloud maybe empty, it will cause crash:
real_time_correlative_scan_matcher.cc:159 Check failed: candidate.score > 0.f (nan vs. 0)
This PR fixed this bug, check the point cloud size before scan matching, return false for empty point cloud.
2017-11-16 09:56:01 +01:00
b2e948d8a2
Fix typo in CMake install script ( #683 )
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Fixes a typo in CMake scripts when installing generated header files.
2017-11-16 09:16:34 +01:00
bdca2095c0
Rename proto::SparsePoseGraph. ( #680 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 14:58:49 +01:00
c866707013
Fix the configuration documentation script. ( #679 )
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Fixes #652 .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
c25379cd20
Rename mapping_{2,3}d::SparsePoseGraph. ( #678 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 13:50:18 +01:00
8c114d6eaf
Rename mapping::SparsePoseGraph. ( #677 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 12:06:19 +01:00
36b9cf7f9a
Move the mapping_3d/sparse_pose_graph directory. ( #676 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 11:30:35 +01:00
26db9d6210
Move the mapping_2d/sparse_pose_graph directory. ( #675 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 10:52:06 +01:00
f6192e4735
replace implicit use of cartographer::string with explicit use of std::string ( #673 )
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Fixes #622 .
2017-11-15 10:17:59 +01:00
291c0f581b
Move the mapping/sparse_pose_graph directory. ( #669 )
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[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-15 09:39:45 +01:00
7904808d40
Reduce transforms in LocalTrajectoryBuilder. ( #668 )
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This speeds up AddRangeData because we avoid one copy and loop over all points.
2017-11-15 09:15:02 +01:00
8c9fac4c69
#671 switch ordering of args in find_package for Protobuf ( #672 )
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per #671
2017-11-15 08:49:33 +01:00
818e5e1a44
Add local SLAM result callback. ( #574 )
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Depends on ~~#619~~ (merged) and ~~#617~~ (merged).
Related to #508 .
Also, if cartographer_ros is going to use this, and we wish to serialize the saved range data, that will have to be handled in cartographer_ros, right?
2017-11-14 17:19:14 +01:00
a4c0e4754e
Rename scan to node. ( #667 )
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Changes the naming from "scan" to "node" in the pose graph.
AddNode() adds a new node to the graph which might contain
data from multiple range sensors and not necessarily one scan.
Configuration and documentation changes might follow in a
separate PR.
Related to #280 .
2017-11-14 16:53:31 +01:00
4b342eddd0
Miscellaneous: rename odometer->odometry ( #665 )
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Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
2017-11-14 16:18:07 +01:00
5496cbdc0c
Serialize odometry data ( #666 )
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Replaces #550 .
2017-11-14 15:18:39 +01:00
a7680f60d4
Updated PR template taking wally into account. ( #663 )
2017-11-14 14:41:48 +01:00
60c72cb445
Deserialize trajectory connectivity ( #552 )
2017-11-14 13:26:53 +01:00
3ec583a327
Change fixed_frame_pose_data_ to MapByTime. ( #662 )
2017-11-13 17:41:04 +01:00
fd5003b69b
Omit odometry penalty within frozen trajectory. ( #661 )
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In the case of pure localization, this reduces the size of the optimization problem by a large factor.
2017-11-13 14:19:15 +01:00
4a8607810e
Change odometry_data_ to MapByTime. ( #655 )
2017-11-13 13:21:53 +01:00
Christoph Schütte
Jihoon Lee
Juraj Oršulić
gaschler
Wolfgang Hess
Wolfgang Hess
Holger Rapp
jie
Tobias Ulvgård
catskul