This introduces an option to control the amount of odometry data that
enters the pose graph by motion-filtering it. This is very useful to
bound memory when standing still for longer periods of time.
If the new option is not configured, all odometry data goes unfiltered
into the pose graph as usual.
Signed-off-by: Michael Grupp <grupp@magazino.eu>
Adds a parameter for the currently hard coded `kSubmapsToKeep` in `pure_localization` mode.
The new parameter `max_submaps_with_pure_localization` allows to specify the history size of submaps in `pure_localization` mode.
Closes#1116
Remove 'mapping_3d' namespace. (#922)
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_3d'.
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
Michael Grupp
Christoph Schütte
Alexander Belyaev
Alexander Reimann
Juraj Oršulić