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253 Commits (63fd497e0f61d0523380045c7b62d90ff3401d6d)

Author SHA1 Message Date
Holger Rapp e6a6bab351 Make TrajectoryConnectivity use trajectory IDs. (#275) 
Related to #256.
 2017-05-11 13:36:12 +02:00
Holger Rapp 95f0d013c6 Rename Constraint::i -> submap_id. (#274) 
Related to #256.
 2017-05-11 11:43:47 +02:00
Holger Rapp 94e8eec41d Use (trajectory_id, submap_index) as submap IDs in places. (#271) 
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256.

PAIR=wohe
 2017-05-10 12:26:58 +02:00
Holger Rapp 45de59b116 Move trajectory id mapping into the SparsePoseGraph. (#270) 2017-05-10 08:23:57 +02:00
Holger Rapp 20e9cde53d Fix race condition in extrapolation of submap poses. (#268) 
PAIR=wohe
 2017-05-09 15:21:30 +02:00
Holger Rapp 772d02c00e Move ConstantData into the SPG (#263) 2017-05-08 17:10:07 +02:00
Wolfgang Hess 9194c8679b Clean up. (#266) 
Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
 2017-05-08 15:29:13 +02:00
Yutaka Takaoka 522b37979a Enable multiple configuration for multi-trajectory (#248) 2017-05-08 11:58:53 +02:00
Holger Rapp e2de27cded Remove dead code. (#262) 2017-05-08 11:06:33 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259) 
Related to #250.
 2017-05-04 15:38:41 +02:00
Wolfgang Hess 6d2feaa8c7 Build and run all tests found by the glob. (#258) 2017-05-03 16:55:13 +02:00
Wolfgang Hess af22dc6fe1 Simplify submap versions. (#235) 
We now only keep track of the number of inserted range data.
 2017-04-21 14:12:08 +02:00
Mac Mason 92d360a8f2 Multi-trajectory SparsePoseGraph::ToProto. (#227) 
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
 2017-04-19 17:01:03 +02:00
William Woodall bda68c33d9 Fix warning about struct being redefined as class (#228) 2017-03-28 08:57:13 +02:00
Mac Mason 1e5b49ce62 Minor sparse_pose_graph.proto improvement (#226) 2017-03-24 09:03:36 +01:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. (#224) 
LaserFan is misleading since range data can come from
various sensor types.
 2017-03-23 14:56:18 +01:00
Wolfgang Hess a2abe45542 Rename CompressedLaserFan to CompressedRangeData. (#223) 
CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
 2017-03-22 13:06:41 +01:00
Mac Mason 30b9fcce34 Claim an old TODO. (#209) 2017-03-01 10:26:48 +01:00
Wolfgang Hess b4a1021538 Formatting changes. (#199) 2017-02-08 14:30:38 +01:00
Wolfgang Hess 1c433e6f3a Refactor the documentation update script. (#179) 2017-01-10 10:43:16 +01:00
Damon Kohler 4e9c3d69b5 Build all our source files into a single library. (#164) 2016-12-20 11:24:08 +01:00
Wolfgang Hess 71c951b370 Remove the 'log_residual_histograms' option. (#166) 
This option only existed in 2D. Also other refactoring to make the 2D
sparse pose graph optimization more similar to 3D.
 2016-12-19 17:57:12 +01:00
Wolfgang Hess db45c4ef78 Determine the trajectory that is blocking progress. (#154) 
When processing offline data determining which trajectory needs more
data before processing can continue is surprisingly tricky. We thus
expose this information at the map builder to avoid duplicating this
logic.
 2016-12-06 17:04:45 +01:00
Wolfgang Hess f3526bd252 Move the OrderedMultiQueue implementation out of the header. (#152) 2016-12-06 14:09:44 +01:00
Wolfgang Hess 4c9c77034b Remove UKF-related debug output. (#142) 2016-11-23 14:27:36 +01:00
Damon Kohler a39bbff70c Removes odometer covariance from public API. (#137) 2016-11-21 12:34:52 +01:00
Damon Kohler 5136a3a81e Removes LaserFan from public API. (#136) 2016-11-21 10:30:57 +01:00
Damon Kohler c386bf050d Renames Odometry to Odometer. (#135) 2016-11-21 08:27:19 +01:00
Holger Rapp 6777654202 Adds a heuristic to detect floors in a trajectory. (#125) 2016-11-16 05:16:40 -08:00
Wolfgang Hess c80c2eaa40 Unify 2D/3D constraints. (#119) 
This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
 2016-11-08 14:47:03 +01:00
Wolfgang Hess 3e64a803a4 Consistently name weight parameter. (#116) 
All parameters scaling optimization residuals to determine relative
importance are now consistently named.
 2016-10-28 16:39:45 +02:00
Wolfgang Hess 404bbfcc2b Add SubmapToProto to the map builder. (#110) 2016-10-27 16:20:58 +02:00
Wolfgang Hess a5b81ff159 Allow continuing after running a "final" optimization. (#109) 
And a tiny cleanup of the submap visualization query.
 2016-10-27 15:25:57 +02:00
Wolfgang Hess 651a7a23e7 Rename trajectory and submap visualization protos. (#101) 2016-10-26 08:45:52 +02:00
Wolfgang Hess 4917dd65ce Add serialization of the sparse pose graph. (#97) 2016-10-25 16:56:26 +02:00
Wolfgang Hess 4d81b58a39 Remove unused code. (#89) 2016-10-20 13:54:12 +02:00
Wolfgang Hess 5b16f4bcb6 Simplify 3D visualization code. (#88) 
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
 2016-10-20 11:29:12 +02:00
Holger Rapp 4b7e2efbd9 Add code to serialize a trajectory to proto. (#87) 2016-10-20 10:53:43 +02:00
Wolfgang Hess 3cf59a0266 Collate sensor data in the MapBuilder. (#85) 2016-10-19 17:25:44 +02:00
Wolfgang Hess e566bb73f5 Adds CollatedTrajectoryBuilder. (#82) 2016-10-19 16:29:26 +02:00
Wolfgang Hess d4e04a3cda Unify to AddLaserFan for both 2D and 3D. (#81) 2016-10-19 15:02:31 +02:00
Damon Kohler 2eca021003 Moves SensorCollator into sensor package. (#58) 2016-10-17 10:18:17 +02:00
Wolfgang Hess 098349f67e Rename LaserFan3D to LaserFan. (#64) 2016-10-14 12:06:54 +02:00
Wolfgang Hess 9020f71605 Remove LaserFan in favor of LaserFan3D. (#62) 
LaserFan3D will be renamed in the next PR.
 2016-10-14 11:26:53 +02:00
Wolfgang Hess cc7cc6f72b Move the ImuTracker and OdometryStateTracker to mapping. (#50) 
Both are useful without a UKF.
 2016-10-13 10:51:12 +02:00
Holger Rapp eeb17bf055 Adds google_binary to create installable binaries. (#43) 
- Do not link in Ceres if gflags or glog is used, but still rely on ceres
  to find those libraries for us.
- Update CMakeLists with new settings.
 2016-10-11 15:18:59 +02:00
Wolfgang Hess d2962c004f Remove the 'also_match_to_new_submaps' option. (#29) 
Instead, using a different constraint_builder.sampling_ratio is preferred.
 2016-09-30 16:00:10 +02:00
Wolfgang Hess 14355a91a1 Remove dead code. (#26) 2016-09-22 17:53:32 +02:00
Wolfgang Hess 0796d50b00 Removes max_covariance_trace option. (#25) 
This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
 2016-09-22 11:35:47 +02:00
Damon Kohler fc166fdefa Adds MapBuilder and cleans up some configurations. (#23) 2016-09-08 16:21:25 +02:00
Wolfgang Hess 817dc884d5 Clean up and simplify MapLimits. (#12) 
MapLimits no longer keeps redundant data.
 2016-08-25 15:40:05 +02:00
Wolfgang Hess 6e56578394 Rename to local/global map frame. (#2) 
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
 2016-08-10 12:09:52 +02:00
Damon Kohler 269c28cb0c Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00