Proto commits in cartographer-project/cartographer

These commits are when the Protocol Buffers files have changed: (only the last 100 relevant commits are shown)

2020-11-04

Optional motion-filter for adding odometry data to the pose graph. (#1757) 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>

The documentation is generated from this commit.

2020-10-26

Add intensities to LocalTrajectoryBuilder3D. (#1766) Disabled by default. Signed-off-by: Wolfgang Hess <whess@lyft.com>

2020-10-22

Use intensities in `Submap3D` and `RangeDataInserter3D`. (#1765) `Submap3D` now also stores a pointer to `IntensityHybridGrid`. Adapted `RangeDataInserter3D` to also insert intensities. Signed-off-by: Wolfgang Hess <whess@lyft.com>

2020-10-14

Add intensity cost function to the Ceres scan matcher. (#1761) Not yet used. Signed-off-by: Wolfgang Hess <whess@lyft.com>

2020-09-14

Move proto files out of 2d/3d directories. (#1749) This is to make it possible to use the proto definitions from Python where the directory structure otherwise prevents them from being imported in the usual way. Signed-off-by: Wolfgang Hess <whess@lyft.com>

2020-08-28

Add intensity data to TimedPointCloudData. (#1742) Adds a new field intensities to TimedPointCloudData. RangeDataCollator now also takes intensities into account. AddRangeData now takes a point cloud by value instead of const reference as we would later make a copy of it anyway. Signed-off-by: Wolfgang Hess <whess@lyft.com>

2020-08-21

Remove legacy compatibility proto files. (#1736) Not needed anymore after the recent removal of that feature, see #1709. Signed-off-by: Michael Grupp <grupp@magazino.eu>

2020-07-30

Integrate imu based extrapolator (#1732) This integrates the imu based extrapolator implementation, adds lua configuration and conversions from lua to proto. Note that the parameters of the imu based extrapolator are not tuned yet and the default is still the constant-velocity extrapolator. Signed-off-by: mschworer <mschworer@lyft.com>

2020-07-29

use extrapolator interface (#1730) This integrates the extrapolator interface into the 3D trajectory builder. The construction is now done within the interface and local trajectory builder 3D just makes use of the interface. No functional changes. Signed-off-by: mschworer <mschworer@lyft.com>

added imu based extrapolator impl (#1728) This adds an alternative implementation for pose extrapolation which uses imu integration as well as past local SLAM results (and odometry data) to predict a pose. This allows to perform motion compensation and initialize scan matching afterwards. Using imu data for pose extrapolation and motion compensation is more accurate, because it does not make a constant velocity assumption like the PoseExtrapolator implementation. Next steps are the integration into local trajectory builder as well as tuning the parameters for existing datasets. This PR is quite large but was already reviewed in smaller chunks internally and combines contributions from @danielsievers, @wohe and @schwoere. Signed-off-by: mschworer <mschworer@lyft.com>

2020-07-28

add pose extrapolator interface and extrapolator options (#1726) This adds an interface around the extrapolator without further integration into any call sides. Currently there is only a constant-velocity extrapolator implementation. The next step is to add an extrapolator implementation which integrates imu measurements for pose extrapolation. Signed-off-by: mschworer <mschworer@lyft.com>

2020-06-15

Allow using TolerantLoss for INS in pose graph optimization (#1700) This PR adds the possibility to use the TolerantLoss function for INS in pose graph optimization. This is currently switched off, and so there's not functional change. The ceres TolerantLoss function (see [description](http://ceres-solver.org/nnls_modeling.html), and [implementation](https://github.com/ceres-solver/ceres-solver/blob/master/internal/ceres/loss_function.cc)) has the following property - for large values of x it approaches a quadratic loss ("null loss") with the specified weight (fixed_frame_pose_translation_weight) - for small values of x it approaches a quadratic loss with a smaller weight - there's a crossover at some value x_c. The function is convex everywhere.

2019-03-14

Remove GenericPoseGraph. (#1540) Remove GenericPoseGraph implementation not to confuse the users. It will come back one day.

2019-01-18

Add serialization for TimestampedTransform. (#1495)

2019-01-02

Correct spelling to bandwidth (#1490) Previously, two config values were spelled "bandwith". The assumption is that these values are not used in other repositories so the rename is harmless.

2018-10-02

[GenericPoseGraph] Add 'group_id' field to NodeId. (#1438)

2018-10-01

[GenericPoseGraph] Proto for pose graph solver config. (#1436)

2018-09-14

Add WriteStateToFileResponse. (#1428) Changes the public map builder API, but is required to not break the ROS API. See also https://github.com/googlecartographer/cartographer_ros/pull/1014 and #1422

2018-09-13

Implement MapBuilderService.WriteStateToFile() (#1424)

Add load_frozen_state also to LoadStateFromFile gRPC requests. (#1423)

2018-09-12

Replace token file with Google auth in MapBuilder. (#1417) This allows Cartographer to use normal Application Default Credentials (ADC) instead of a hand-generated format. Google-internally, we'll only use ADC going forward. At your option, I can keep the old code for the token files around if you think it would be generally useful. Many OSS programs follow the same approach.

2018-09-04

Move OverlappingSubmapTrimmerOptions to PoseGraphOptions (#1408)

2018-09-03

Store histogram in submaps: prepare for backward compatiblity (#1405) This makes the map builder backwards compatible to the current map pbstream (version 1). The PR prepares for #1277, where pbstream version 2 will be introduced. Backwards compatibility was discussed in #1277. When a map with pbstream version 1 is loaded, a rotational scan matcher histogram is generated for each submap using the histograms of all nodes that were inserted to the submap during local SLAM. Once this backwards compatibility is in place, I would like to introduce the new format with #1277.

2018-08-29

Support gRPC requests for loading unfrozen states. (#1379)

2018-08-14

[GenericPoseGraph] Add parameterization. (#1385)

2018-08-10

Introduce [Timed]RangefinderPoint. (#1357)

2018-08-03

Integrate TSDF components into SLAM pipeline. (#1361) [RFC=0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)

2018-07-27

[GenericPoseGraph] Add PoseGraphController. (#1335)

2018-07-26

[GenericPoseGraph] Add InterpolatedRelativePose2D constraint. (#1337)

2018-07-25

Migrate pbstream files with old probability grid format. (#1314)

2018-07-24

[GenericPoseGraph] Add interpolated constraint/cost 3d. (#1325) * [GenericPoseGraph] Add interpolated rotation constraint/cost 3d. * Rename tests * Update include paths.

[GenericPoseGraph] Add acceleration constraint. (#1319)

2018-07-23

Set client_id in LoadState(FromFile) (#1320)

2018-07-22

[GenericPoseGraph] Add proto defs for landmark cost functions. (#1312)

2018-07-20

[GenericPoseGraph] Added rotation cost 3d. (#1313)

2018-07-19

[GenericPoseGraph] Added relative pose cost 3d. (#1303) * [GenericPoseGraph] Added relative pose cost 3d. * Added another case to the test. * Removed ceres function from cost function. * Ran clang-format. * Minor renaming.

2018-07-18

[GenericPoseGraph] Add RelativePoseCost2D. (#1295) This is the implementation of the ceres::CostFunction that uses the new proto definition. It is tested using the Autodiff version.

2018-07-16

[GenericPoseGraph] Add IMU Calibration and Pose3D node types. (#1278)

2018-07-11

Introduce client_id in SensorMetadata (#1257)

[GenericPoseGraph] Add protos for nodes/constraints. (#1258) Does not cover all constraints yet.

2018-07-10

Introduce client_id in cartographer grpc (#1241)

2018-07-09

Add TSDF RangeDataInserter (#1236) Adds TSDF RangeDataInserter, tests and integrates the configuration files.

2018-07-05

Add token_file_path parameter and enable auth (#1235)

2018-07-03

Make old pbstreams compatible with the new pure_localization_trimmer options. (#1230)

2018-07-02

Add options to (not)collate fixed-frame/landmarks data. (#1224)

Add max_submaps_with_pure_localization parameter (#1141) 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

Add use_online_imu_extrinsics_in_3d parameter and set it to true by default. (#1217) Add the parameter `OptimizationProblemOptions.use_online_imu_extrinsincs_in_3d`. Set it to true by default to not change existing behavior. Using online IMU extrinsics is not always desirable, and particularly during localization, we have determined that it is preferable to turn this feature off.

2018-06-26

Add Normal Estimation (#1213) Adds Normal Estimation needed for TSDF RangeDataInserter.

2018-06-25

Add TSDF2D Grid (#1209) - Adds TSDF2D Grid - Adds tests for TSDF2D Grid - Introduces Grid2D::GrowLimits(...) for multiple grids to reduce code duplication between TSDF2D and Grid2D

2018-06-20

Endpoints for GetTrajectoryStates (#1206) [RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md)

2018-06-19

LoadState(FromFile) endpoints (#1203) [RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md)

Endpoints for DeleteTrajectory (#1207) [RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md)

2018-06-04

Fix LoadState gRPC (#1179)

2018-05-30

Using new serialization format. (#1174) Updates everyone to use the new serialization format. A corresponding PR will be made in cartographer_ros for the various tools.

Provide local poses via GetTrajectoryNodePoses() (#1172)

2018-05-29

Implement receive_global_slam_optimizations_handler (#1169)

2018-05-28

Defining new serialization proto (#1165) [Serialization RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md)

2018-05-17

Add CSV export to the evaluation tool (#1159) - adds `covered_distance` to the ground truth relations - the flags `write_relation_metrics` and `relation_metrics_filename` control whether and where to write the relations metrics as comma-separated values

2018-05-09

Organize all protos in mapping in a single folder. (#1147)

2018-04-25

Introduce Grid and RangeDataInserter (#1108) - Introduce `RangeDataInserterInterface` as common interface for all range data inserters - Introduce a minimal `GridInterface` as a base for a common interface for 2D and 3D grids - Rename `RangeDataInserter2D` to `ProbabilityGridRangeDataInserter2D` - Move grid generation logic from `Submap2D` to `ActiveSubmaps2D` - Update proto and configuration structure to mirror the code structure - backwards compatibility is maintained - Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)

2018-04-23

Move constraint_builders together. (#1103)

2018-04-20

Move files related to optimization to optimization/. (#1102)

Invoke trimmer only when there are enough added submaps. (#1095)

2018-04-19

Base ConstraintBuilder2D on correspondence cost function (#1088) - Base `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D` on correspondence cost function instead of probabilities - No changes in the options of `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D` - Add properties `min/max_correspondence_cost` to `Grid2D` and `proto::Grid2D` - Provide backwards compatibility for `proto::Grid2D` - Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)

2018-04-18

Introduce option to enable SSL encryption for LocalTrajectoryUploader (#1084)

Switch to batch uploading for cloud based mapping and add retries (#1070)

2018-04-17

Use area instead of cells count for overlapping trimmer options. (#1080)

Add overlapping trimmer params to TrajectoryBuilderOptions. (#1076)

2018-04-16

Add a gRPC version of SetLandmarkPose(). (#1068)

2018-04-13

Introduce Grid2D as base class for 2D grids (#1046) This is a first step towards generalizing submaps (see [ongoing RFC discussion](https://github.com/googlecartographer/rfcs/pull/30)). Although this PR already introduces a correspondence cost grid, the grid is still used as probability grid.

2018-04-12

Implement IsTrajectory{Finished,Frozen} in cloud mapping (#1057)

2018-04-10

Separate global optimization constraints for local SLAM and odometry (#1029) Implements [RFC-0018](https://github.com/googlecartographer/rfcs/blob/master/text/0018-odometry-use-in-optimization-problem.md)

2018-03-23

Use async_grpc (#1013) Use async_grpc

2018-03-15

OptimizationProblemInterface (#991) Derive optimization problems from a new OptimizationProblemInterface. Move fix_z into OptimizationProblemOptions. Move trivial getters to header files. This will allow mocking the optimization problems.

2018-03-14

Add landmarks to the state and deserialize them. (#988)

2018-03-05

Move cartographer_grpc/ to cartographer/cloud. (#958) [Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)

2018-03-02

Rename cartographer_grpc:: namespace as cartographer::cloud::. (#955) [Code structure RFC](https://github.com/pifon2a/rfcs/blob/e11bca586f8cc733063ea9c94bdade71086ed9ea/text/0000-code-structure.md) also `cartographer_grpc::mapping::` -> `cartographer::cloud::`. `cartographer_grpc::sensor::` -> `cartographer::cloud::`.

Move framework/, sensor/, testing/ to internal/. (#954) [Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md) Added `map_builder_server_interface.h/cc` to hide `framework/*.h`.

2018-02-27

Enable loading unfrozen state (#891) Enable loading unfrozen state

2018-02-26

Move mapping_*d to mapping/*d. (#935) [Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)

Purge 'mapping_3d::'. (#927) (#928) [Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)

2018-02-21

Purge 'mapping_2d::'. (#927) [Code structure RFC](https://github.com/pifon2a/rfcs/blob/e11bca586f8cc733063ea9c94bdade71086ed9ea/text/0000-code-structure.md)

Remove 'mapping_3d' namespace. (#922) (#925) Remove 'mapping_3d' namespace. (#922) It is removed from everywhere but 'scan_matching', 'pose_graph' subfolders of 'mapping_3d'. [Code structure RFC](https://github.com/pifon2a/rfcs/blob/e11bca586f8cc733063ea9c94bdade71086ed9ea/text/0000-code-structure.md)

Remove 'mapping_2d' namespace. (#922) It is removed from everywhere but 'scan_matching', 'pose_graph' subfolders of 'mapping_2d'. [Code structure RFC](https://github.com/pifon2a/rfcs/blob/e11bca586f8cc733063ea9c94bdade71086ed9ea/text/0000-code-structure.md)

2018-02-19

(De)serialize trajectory data from the optimization problem (#915) * Write/Read the trajectory data (gravity, imu calibration, and fixed frame origin) into the serialized state proto

2018-02-07

Follow googlecartographer/cartographer#859 (#892)

Serialize landmarks. (#889) [RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)

2018-02-06

Implement GetLandmarkPoses method. (#888) [RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)

2018-02-05

Serialize and deserialize trajectory builder options (#859)

2018-02-01

Implement WriteMapHandler. (#851)

2018-01-26

Struct SensorId (#839) * WIP, started unordered_set<SensorId> * struct SensorId. Works for cartographer without grpc. * correct test * SensorId in cartographer_grpc/ * clean up * try to fix for trusty * SensorId::operator== * Ran clang-format.

2018-01-25

Add gRPC version of RunFinalOptimization(). (#852)

Rename Landmark->LandmarkObservation. (#847)

Add gRPC version of LoadMap(). (#842) Later they will be used in map_builder_stub and load_map_handler.

2018-01-22

Rename 'tranform' to 'landmark_to_tracking_transform'. (#836)

2018-01-19

Send LandmarkData via gRPC. (#831) * Send LandmarkData via gRPC. [RFC PR](https://github.com/googlecartographer/rfcs/pull/18) * Fix the nits.

2018-01-17

Collate_by_trajectory option (#828) Adds an option to create a MapBuilder using TrajectoryCollator (instead of Collator). [RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)

2018-01-12

Start DataUploader implementation, implement Add/FinishTrajectory (#811) [RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)

Add LocalSlamResultData retrieval and submap management (#810) [RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)

2018-01-10

Add InsertionResult to LocalSlamResult. (#801)