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1179 Commits (master)

Author SHA1 Message Date
Damon Kohler 05adba7c51 Improves sensor data queue logging. (#93) 2016-10-25 11:09:08 +02:00
Holger Rapp 3986ad5328 Moving a temporary prevents copy elision. (#91) 2016-10-20 19:11:29 +02:00
Holger Rapp 695c303c56 Fix layering check for headers. (#90) 2016-10-20 18:48:52 +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
Holger Rapp f2916143ef Adds a PointProcessor that writes ASCII files. (#86) 
The files will just contain XYZ points in a file of their own. This is
useful for example as interop with AutoCAD.
 2016-10-20 09:28:18 +02:00
Wolfgang Hess 3cf59a0266 Collate sensor data in the MapBuilder. (#85) 2016-10-19 17:25:44 +02:00
Holger Rapp 15b58766f5 Use pkg-config variables for yaml-cpp. (#84) 
Related to googlecartographer/cartographer_ros#117.
 2016-10-19 17:11:31 +02:00
Damon Kohler a560c97c2b Adds Docker caching to Travis. (#83) 2016-10-19 16:50:20 +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
Holger Rapp 9031f0533a Adds a PLY writing points processor. (#80) 2016-10-19 14:03:05 +02:00
Holger Rapp 4a9116a58e PointsProcessor can now ask for another pass over the data. (#69) 
* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
 2016-10-19 13:11:13 +02:00
Damon Kohler a7663f6c15 Pulls sensor ID out of sensor::Data. (#77) 2016-10-18 17:37:40 +02:00
Damon Kohler 8705d462fb Revert "Adds Docker caching to Travis." (#78) 2016-10-18 17:14:25 +02:00
Damon Kohler fddb1e32a0 Moves time into sensor::Data. (#76) 2016-10-18 16:07:18 +02:00
Damon Kohler 534c627c28 Adds Docker caching to Travis. (#72) 2016-10-18 15:42:23 +02:00
Damon Kohler 653ce1706a Detemplatize OrderedMultiQueue. (#75) 2016-10-18 15:09:29 +02:00
Atsushi Watanabe ccc26a7f4f Add missing <vector> include. (#74) 2016-10-18 14:35:45 +02:00
Wolfgang Hess 4d361abe41 Extract SpaCostFunctions into their own files. (#71) 2016-10-17 16:14:24 +02:00
Damon Kohler f798805c4f Removes templating on data type. (#68) 2016-10-17 14:47:48 +02:00
Damon Kohler 2eca021003 Moves SensorCollator into sensor package. (#58) 2016-10-17 10:18:17 +02:00
Holger Rapp c2aed53ce8 Adds a points processing pipeline and a XRay creator. (#66) 
- Adds cairo as required dependency.
- Adds an 'io' module.
 2016-10-14 15:14:46 +02:00
Holger Rapp b81e855a8d update_cmakelists.py now support running over multiple directories. (#65) 2016-10-14 13:43:09 +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 cac501cdb1 Always use the 3D voxel filter. (#61) 2016-10-13 18:56:41 +02:00
Wolfgang Hess 5aad2d6feb Change 2D scan matching to use 3D point clouds. (#60) 2016-10-13 17:52:05 +02:00
Wolfgang Hess 9006fb6fb1 Show the unprojected point cloud in 2D SLAM. (#59) 
We now project to 2D later in 2D SLAM, so that the roll and pitch
applied to the laser fan in visible in the visualization.
 2016-10-13 17:16:32 +02:00
Holger Rapp 0bf37d0190 update_cmakelists.py no longer overwrites. (#56) 2016-10-13 15:30:44 +02:00
Wolfgang Hess 7d93ac3302 Simplify the conversion of LaserScan to LaserFan3D. (#57) 2016-10-13 15:09:36 +02:00
Damon Kohler 518850999f Moves SensorData struct into Cartographer. (#55) 2016-10-13 14:17:28 +02:00
Holger Rapp edff6a1e24 Remove all mentions of ZLIB. (#49) 
We do not actually use zlib anywhere anymore.
 2016-10-13 12:33:27 +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 8f64860b5d Preparing changes to use automatic CMakeFiles also in the ROS projects. (#48) 2016-10-12 17:03:46 +02:00
Holger Rapp be813a06fe Prepare CMake files for testing support. (#47) 
- Only build gmock if we really require testing.
- Adds a wrapper for generating catkin aware tests. This works around
  ros/catkin#830.
 2016-10-12 15:38:12 +02:00
Holger Rapp 8e7996f015 Extend CMake functions for reuse in other Cartographer subprojects. (#45) 
- Change CARTOGRAPHER_LIBRARIES to be absolute path to adhere to the
  CMake documentation.
 2016-10-12 13:39:03 +02:00
Damon Kohler f6c9f9565f Adds system requirements label. (#46) 2016-10-12 12:52:26 +02:00
Damon Kohler 1b7eb7fad7 Improves documentation. (#44) 
* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
 2016-10-11 16:09:55 +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
Damon Kohler 8f5fc98188 Improves logging, fixes #94. (#41) 2016-10-11 11:22:33 +02:00
catskul 045f6a7522 Pass Eigen arguments by const reference (#38) 
Fixes #35.
 2016-10-11 09:57:41 +02:00
catskul 49ec6a9e37 Add .gitignore to hide the "build" directory (#40) 2016-10-10 18:07:48 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. (#32) 2016-10-05 17:27:08 +02:00
Damon Kohler f70e868b08 Small fixes to README. (#31) 2016-10-04 15:39:44 +02:00
Wolfgang Hess 8238ad8bc3 Do not accumulate scans by default for 3D SLAM. (#30) 2016-10-04 14:59:09 +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
Damon Kohler 092b020c15 Adds demo video to readme. (#28) 2016-09-29 13:22:00 +02:00
Wolfgang Hess e526a7022f Remove covariance computation from branch-and-bound. (#27) 
These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
 2016-09-23 14:27:19 +02:00