Commit Graph

64 Commits (master)

Author SHA1 Message Date
Wolfgang Hess 9ab557476d
Add Debian Bullseye to the install scripts, CI, docs. (#1897)
Signed-off-by: Wolfgang Hess <whess@fsfe.org>
2022-07-28 08:09:21 +02:00
Wolfgang Hess dc6263414b
Remove Debian Stretch from CI. (#1895)
It has reached end-of-life with the
end of LTS on June 30, 2022.

Signed-off-by: Wolfgang Hess <whess@fsfe.org>
2022-07-19 20:26:53 +02:00
Wolfgang Hess f76f849e6a
Add Ubuntu 22.04 to the install scripts, CI, docs. (#1888)
Signed-off-by: Wolfgang Hess <whess@fsfe.org>
2022-07-04 19:38:24 +02:00
Wolfgang Hess b8228ee656
Remove Ubuntu Xenial from CI. (#1833)
Ubuntu 16.04 has reached end of standard support.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
2021-05-07 15:52:57 +02:00
Wolfgang Hess 19a6eab07a
Change pbstream migrate to support new submap format. (#1733)
This changes the migration support to:
1. Remove migration from old files from before version 1.0.
   If this is still needed by someone, they can use the tool
   as it was before this change.
2. Adds migration of maps without submap histograms. These
   were so far migrated on-the-fly, but #1710 aims to remove
   this.

See also #1709.

This was tested by converting a serialized 3D map and verifying
it can still be used for localization. The file changed a little
bit, but it seems to be good enough.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-08-14 11:08:53 +02:00
Wolfgang Hess e5894cce1f
Small Abseil fixes for dependents. (#1711)
Enable PIC so that shared libraries can use the Cartographer
library.

Fixes the config so that dependent builds can find Abseil.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-06-25 09:35:57 +02:00
Wolfgang Hess 21a8299caa
Add Ubuntu 20.04 to the install scripts, CI, docs. (#1706)
Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-06-18 14:44:58 +02:00
Wolfgang Hess db85e0894d
Remove Ubuntu Trusty from CI. (#1699)
Ubuntu 14.04 has reached end of standard support.
Moves additional testing that was only done for
Trusty to Bionic.
2020-06-10 11:13:34 +02:00
Wolfgang Hess 1b0d4f1fee
Add Ubuntu 18.04 to the install scripts, CI, docs. (#1697) 2020-06-04 11:09:18 +02:00
Wolfgang Hess 1659f0dc8b
Fix build status on front page. (#1693)
Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.
2020-06-02 14:08:16 +02:00
Sebastian Klose 2b042311d8
Unified pbstream tool (#1326)
Consolidating pbstream tools into a single tool

* adds two subcommands for now (info and migrate)
* removes commandline flags for filenames in favor of commandline args
* updates documentation for migration tool
2018-07-24 15:48:34 +02:00
Michael Grupp 8602bf9430 Nit: no hardcoded version and current year in Sphinx docs. (#1268)
`Cartographer 1.0.0 documentation` -> `Cartographer documentation`
`Copyright 2016 The Cartographer Authors` -> `Copyright <year> The Cartographer Authors`
2018-07-12 20:43:36 +02:00
Michael Grupp 30bc6bd97a Add equations for landmark cost function. (#1254) 2018-07-12 13:25:57 +02:00
Sebastian Klose 5b0fe666ee Adding short description of pbstream migration tool (#1181)
Adding a section to the docs, describing the existence and usage of the serialization migration tool.
2018-06-04 10:39:27 +02:00
Alexander Belyaev 207979f209
Add relative transform error 2d documentation. (#1163) 2018-05-23 13:22:26 +02:00
Michael Grupp b5e5477f75 Fix Sphinx build warning. (#1055)
Removes 'WARNING: html_static_path entry [...] does not exist'.
2018-04-12 16:33:38 +02:00
Michael Grupp 4351bdb3c8 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)
2018-04-10 14:44:43 +02:00
Michael Grupp 655bd65abc Fix sphinx-build errors in evaluation.rst (#883)
Adds language arguments that are required for code blocks in newer Sphinx versions.

Resolves the missing code blocks in the HTML output.
2018-02-02 15:13:23 +01:00
Michael Grupp 9ca06bd06b Add ground truth documentation. (#853)
See [RFC 10](https://github.com/googlecartographer/rfcs/blob/master/text/0010-document-groundtruth-features.md)

[Rendered version](https://github.com/magazino/cartographer/blob/doc-groundtruth/docs/source/evaluation.rst)
2018-02-01 18:53:43 +01:00
Christoph Schütte f1616e16ec Introduce bazel docker file (#838) 2018-01-23 10:50:51 +01:00
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. (#707)
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
Wolfgang Hess 055728af93 Rename options for consistency. (#686)
"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
Wolfgang Hess 16d62f45f0 Rename sparse_pose_graph options. (#682)
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
Wolfgang Hess c866707013 Fix the configuration documentation script. (#679)
Fixes #652.
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
Holger Rapp e29fc9787a New proto compiler (#644)
Also change Dockerfiles to build proto3 from HEAD.

PAIR=@cschuet
2017-11-10 11:16:44 +01:00
Holger Rapp 7c31291b2b Add assets used for the Cartographer shirt. (#630) 2017-11-06 10:36:38 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. (#624) 2017-11-03 13:44:23 +01:00
Damon Kohler 0cd0148577 Update the high level overview and provide a link to a copyable Google Sketch. (#607) 2017-10-20 14:56:29 +02:00
Wolfgang Hess bcd1be92b1 Adds a bit of terminology documentation. (#591)
Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
jie 4fca78368d Add Cartographer high level structure diagram to documentation (#486) 2017-09-28 08:27:27 +02:00
Wolfgang Hess a7fe8bd2ab Add filtered point cloud to TrajectoryNode::Data for 2D. (#483) 2017-08-28 11:17:53 +02:00
Christoph Schütte 96b71e227f Add histograms for pose residuals (#478)
* WIP Add histograms for pose residuals

* Address reviewers comments

* Address more comments.
2017-08-25 11:39:56 +02:00
jie 2fd2e86351 Add fixed frame pose weight into optimization problem options. (#477) 2017-08-24 15:40:48 +02:00
Wolfgang Hess 4d11a226ff Expose low resolution matching scores. (#470)
This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
zjwoody 2e53586818 Also check low resolution match for 3D loop closure. (#468)
Related to #369.
2017-08-22 17:29:20 +02:00
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. (#465) 2017-08-21 18:01:23 +02:00
Wolfgang Hess 11dbdf91b9 Remove unused code and option for odometry states. (#451) 2017-08-11 17:38:48 +02:00
Holger Rapp 3346474963 Grow the ProbabilityGrid as needed instead of preconfiguring its size. (#387)
This removes the 'half_length' option.

PAIR=wohe
2017-07-05 14:17:04 +02:00
Wolfgang Hess 54bd81a78b Remove UKF related code and configuration. (#378) 2017-06-30 13:19:13 +02:00
Damon Kohler f765e55ea9 Use multi-res scan matching for loop closures too. (#374)
Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
Wolfgang Hess f88fcec851 Remove the unused OptimizingLocalTrajectoryBuilder. (#368)
It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
Wolfgang Hess 2df8bcde61 Remove unused 'imu_gravity_variance' option. (#363) 2017-06-26 13:23:58 +02:00
Holger Rapp ff37b0bb7d Remove output_debug_images. (#358)
This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
Holger Rapp 30de09bee8 Adds Cartographer logos. (#336) 2017-06-14 12:14:08 +02:00
Wolfgang Hess 92f154f561 Also use fixed covariances in 3D SLAM. (#308)
This follows #307.
2017-06-01 15:04:07 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259)
Related to #250.
2017-05-04 15:38:41 +02:00
Juraj Oršulić 28da207c4d Sphinx build fix (#229)
This was missed in #203, where uses of absolute CMAKE_BINARY_DIR were
changed to PROJECT_BINARY_DIR.
2017-03-30 16:23:19 +02:00
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 b2175f0d93 Remove covariance from the 3D Ceres scan matcher. (#200)
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
Wolfgang Hess 1f27268664 Add resolution of option types to the documentation script. (#180) 2017-01-10 12:23:10 +01:00