3ae78563c6
Introduce TrajectoryBuilderInterface. ( #736 )
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[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md )
2017-12-08 11:52:29 +01:00
96cdbde5bf
Introduce PoseGraphInterface. ( #744 )
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[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md )
2017-12-08 11:13:48 +01:00
176fc42c3f
Remove empty leftover of pose_estimate.h ( #740 )
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Follow-up of #670 .
2017-12-07 08:53:04 +01:00
2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. ( #738 )
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This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
2017-12-06 16:36:36 +01:00
4c999037b4
Integration tests for local slam. ( #734 )
2017-12-06 15:58:16 +01:00
49d55d97c1
Test MapBuilder ( #731 )
2017-12-05 14:04:10 +01:00
b77a1f2178
Remove implementation from TrajectoryBuilder. ( #728 )
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To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
2017-12-05 11:05:05 +01:00
ee9c61a736
Move LocalSlamResultCallback to AddTrajectory ( #724 )
2017-12-04 22:41:38 +01:00
85bfb888eb
Interface for MapBuilder ( #715 )
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Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-30 14:41:48 +01:00
24f253a2aa
Remove GetBlockingTrajectoryId ( #714 )
2017-11-30 12:04:14 +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
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
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
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
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
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
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
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
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
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
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
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
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
d183ab737a
Fix mismatched tag warning for MapByIndex ( #658 )
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- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html ).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
2017-11-13 10:18:58 +01:00
53471359f8
Convert all .proto files to proto3 syntax. ( #653 )
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[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md )
2017-11-13 08:26:35 +01:00
ed71914805
Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… ( #565 )
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…aph::TrimmingHandle::MarkSubmapAsTrimmed
To make them compile successfully in google.
2017-11-10 17:21:20 +01:00
eb4415d17d
Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. ( #619 )
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In preparation for #574 . Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
2017-11-10 14:49:41 +01:00
e21fc9f253
Serialize IMU data. ( #548 )
2017-11-09 15:32:54 +01:00
3bdee588bd
Add FinishTrajectory() in SparsePosegraph. ( #562 )
2017-11-09 14:29:26 +01:00
eb96c91473
Initial pose implementation. ( #606 )
2017-11-08 14:01:38 +01:00
088681f9ec
Add 3D localization support. ( #632 )
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This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.
Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
2017-11-07 11:26:41 +01:00
8186316d77
Range loop over trajectories for MapByTime ( #633 )
2017-11-06 17:14:01 +01:00
049f30d824
Generalize IntegrateImu(). ( #627 )
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This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
2017-11-06 11:00:33 +01:00
8854aaae9e
Extrapolator reuses result using additional IMU trackers. ( #623 )
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This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
2017-11-03 16:19:55 +01:00
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
5a3bb14083
PoseExtrapolator::GetLastExtrapolatedTime ( #626 )
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This prepares the API for #623 and #616 .
2017-11-03 11:56:31 +01:00
7964211fef
Deserialize SPG constraints ( #544 )
2017-11-02 22:01:01 +01:00
82a4b2f171
Follow #591 terminology in 3D optimization. ( #612 )
2017-10-27 15:48:51 +02:00
dacc962399
Adds lower_bound() to MapById. ( #610 )
2017-10-27 14:50:14 +02:00
d4db1e79a6
Add TimedPointCloud and TimedRangeData. ( #601 )
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Adds a type TimedPointCloud that holds 4-dimensional vectors where measurement time of individual points are stored in the fourth entry.
Uses TimedRangeData to pass TimedPointCloud of incoming measurements to LocalTrajectoryBuilder.
Fixes #573 .
2017-10-24 11:47:35 +02:00
f179bd942c
Support multiple trajectories in LoadMap. ( #567 )
2017-10-20 16:13:18 +02:00
a96511464e
Add map trajectory without a trajectory builder. ( #605 )
2017-10-19 16:59:04 +02:00
7c03467a78
Change GetTrajectoryNodes() to MapById. ( #603 )
2017-10-19 14:50:58 +02:00
e479382ecc
Change GetAllSubmapData() to MapById. ( #597 )
2017-10-17 16:03:16 +02:00
3d4650d675
Remove trimmed() from TrajectoryNode ( #596 )
2017-10-17 15:36:07 +02:00
e5f9815f67
Change submap_data_ in pose graph to MapById. ( #593 )
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* Change submap_data_ in pose graph to MapById.
2017-10-17 13:13:37 +02:00
fdda1dd091
Switch trajectory_nodes in SPG2D to MapById. ( #592 )
2017-10-17 11:48:23 +02:00
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
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Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
76ed37768f
Validate odometry and fixed frame poses. ( #588 )
2017-10-16 15:59:56 +02:00
6b447c4577
Add FindChecked to MapById. ( #586 )
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* Add FindChecked to MapById.
2017-10-16 14:15:53 +02:00
5ed19c15ab
Introduce proxy object for iteration over trajectory ids. ( #585 )
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* Introduce proxy object for iteration over trajecotry ids.
2017-10-16 12:52:53 +02:00
006db45910
Introduce proxy object for range based loops over nodes of trajectory. ( #583 )
2017-10-13 16:44:31 +02:00
4ab4817104
Add MapById<>::ConstIterator::operator->(). ( #580 )
2017-10-12 16:15:12 +02:00
cb41777b9e
Introduces mapping::MapById in the 2D pose graph for submaps. ( #578 )
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PAIR=cschuet
2017-10-12 11:58:59 +02:00
ea55e837d2
Introduces mapping::MapById in the 2D optimization problem. ( #577 )
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PAIR=cschuet
2017-10-09 17:33:12 +02:00
2434e7e40e
Fix crashing bug in localization. ( #575 )
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Now that we deserialize trajectory nodes, we need to make sure
that the global matcher sampler is added for the map trajectory.
2017-10-06 17:01:04 +02:00
2f332eca28
Deserialize trajectory nodes. ( #569 )
2017-10-06 16:16:25 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
51f5a18462
Fix formatting. ( #561 )
2017-10-04 15:58:48 +02:00
aaaf5ac546
Rename serialization NodeData proto for consistency. ( #540 )
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node_data should be a member of a node, not the other way around.
2017-10-04 14:13:18 +02:00
7d0e72dac2
Fix some nits. ( #536 )
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Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime()
private.
2017-09-28 09:21:07 +02:00
259e22a5fc
Use oldest and newest instead of last two odometry data. ( #530 )
2017-09-14 16:10:03 +02:00
5896ead32e
Introduce timeout for global constraints. ( #517 )
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This PR introduces a new option that specifies the number of seconds
after which global matcher searches are performed if no recent global
constraints have been found between the submap's and the node's
trajectory.
2017-09-14 12:11:54 +02:00
31b5a6f1a9
Allow multiple SubmapTextures. ( #519 )
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This changes submap_visualization.proto that multiple textures can be provided.
As of now, the first texture is generated from the high resolution
grid, which is the same as before.
The second texture is generated from the low resolution grid.
2017-09-13 15:47:02 +02:00
57d53b6d53
Remove unused code. ( #522 )
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Removes FindConnectedComponent() from a proto message.
2017-09-12 18:07:18 +02:00
24c2b499dd
Introduce TrajectoryConnectivityState. ( #513 )
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* Introduce TrajectoryConnectivityState.
This class will be used to track the connectivity state (including the
last connection time) between pairs of trajectories.
2017-09-11 14:43:55 +02:00
1a367f0549
Rename TrajectoryConnectivity ConnectedComponents. ( #510 )
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* Rename TrajectoryConnectivity ConnectedComponents.
2017-09-07 17:11:06 +02:00
fa306d03ec
Remove reverse_connected_components. ( #507 )
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Remove reverse_connected_components from SparsePoseGraphs and update
TrajectoryConnectivity to return "connected" for the reflexive case even
if trajectories are unknown.
2017-09-07 15:58:30 +02:00
476d156f66
Serialize trajectory node data. ( #504 )
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Related to #253 .
2017-09-07 15:29:12 +02:00
22f41d8e37
Store rotational histogram as part of the node data. ( #503 )
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The compressed point cloud is no longer stored as part of the
node data to reduce memory consumption.
2017-09-07 11:01:03 +02:00
c8de50bd2b
Add 'gravity_alignment' rotation to each node. ( #500 )
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In 2D this replaces the 'tracking_to_tracking_2d' transform.
Also changes the 2D SparsePoseGraph to get the full 3D pose.
2017-09-04 16:24:26 +02:00
e3b6f0afc5
Expose complete poses in 2D SLAM. ( #498 )
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This changes the trajectory nodes to contain the complete 'pose'
including 'tracking_to_tracking_2d' applied already. Similar for
the 'zbar_ij' as it is returned by 'constraints()'. This allows
2D and 3D to be handled in the same way.
2017-09-01 15:40:21 +02:00
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +02:00
e2c67a7bde
Fix Lint and ClangTidy warnings. ( #485 )
2017-08-31 13:39:47 +02:00
06e9112bc8
Unify GlobalTrajectoryBuilder across 2D and 3D ( #489 )
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This PR unifies GlobalTrajectoryBuilder across 2D and 3D by templating
it with the LocalTrajectoryBuilder and the SparsePoseGraph. It thus
includes small changes to interfaces in LocalTrajectoryBuilder and
SparsePoseGraph.
2017-08-30 16:34:26 +02:00
094b5a4d93
Template dispatching of sensor data. ( #484 )
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This reduces the amount of code that needs to be written when a
new type of sensor data is introduced by a tiny bit.
Rangefinder data is not yet following this pattern.
2017-08-28 15:43:26 +02:00
a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
42d8a8f005
Add filtered point clouds to TrajectoryNode::Data for 3D. ( #482 )
2017-08-25 16:56:50 +02:00
96b71e227f
Add histograms for pose residuals ( #478 )
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* WIP Add histograms for pose residuals
* Address reviewers comments
* Address more comments.
2017-08-25 11:39:56 +02:00
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
a239b71a6e
Dynamic dispatch of sensor::Data. ( #475 )
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This ensures at compile time that all types of data are handled,
and only keeps the data needed for each individual type.
2017-08-24 14:17:51 +02:00
0671e8835e
Add interface to process fixed frame pose, e.g. GPS. ( #471 )
2017-08-24 12:49:03 +02:00
e78e2cb5ad
Extract PoseEstimate into its own file. ( #474 )
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This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
2017-08-24 12:04:39 +02:00
4d11a226ff
Expose low resolution matching scores. ( #470 )
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This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
2dd2d6f448
Use vector<map<>> instead of vector<deque> for submap_data. ( #422 )
2017-08-23 12:16:42 +02:00
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
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Related to #369 .
2017-08-22 17:29:20 +02:00
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
9498cc90ca
Estimate angular velocities from odometry. ( #458 )
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If no IMU is available we will now use odometry to estimate
angular velocities if available instead of the last poses.
Fixes #453 .
2017-08-16 16:55:39 +02:00
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
e79a918989
Use PoseExtrapolator in the 3D trajectory builder. ( #450 )
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This replaces the Predict() logic in the 3D trajectory builder.
2017-08-11 17:13:28 +02:00
6ebfa50291
Use odometry to extrapolate linear motion. ( #443 )
2017-08-08 16:30:53 +02:00
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
eb53b70fec
Towards localization in 3D. ( #438 )
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Adds loading maps to 3D, deserializes submaps and supports trajectories
without any node. Still no trimming support.
2017-08-02 14:17:50 +02:00
Christoph Schütte
Michael Grupp
gaschler
Jihoon Lee
Juraj Oršulić
Wolfgang Hess
Wolfgang Hess
catskul
damienrg
jie
gaschler
jie