ce67d684ba
Introduce a GlobalSlamResultCallback ( #1143 )
2018-05-10 11:25:00 +02:00
c2f54b8df2
Organize all protos in mapping in a single folder. ( #1147 )
2018-05-09 11:22:07 +02:00
697d6091cd
Test ThreadPool more ( #1136 )
...
These tests previously helped to reproduce Mutex issue #1124 .
2018-05-03 21:50:50 +02:00
3ca6506bc7
Remove old ThreadPool::Schedule ( #1139 )
2018-05-03 20:58:51 +02:00
21c428b1bf
installing test library headers, so they are available for cartographer_ros ( #1140 )
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Installing the header files of test_helpers, fake- and mock-classes.
This will fix the build failure of cartographer_ros.
2018-05-02 16:39:55 +02:00
e080df5ea3
Register MapBuilderServer metrics ( #1133 )
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I am not adding these registration calls to `cartographer/metrics/register.cc` because they are specific to cloud based mapping.
2018-05-01 17:18:34 +02:00
913b1b5856
Added cartographer test library to CMake project ( #1129 )
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Fake, mock and test helpers are now compiled into a test library.
This should resolve #1128 . The bazel build file was updated in #1101 .
2018-04-30 18:02:54 +02:00
13d9754155
fixed that tests not getting linked against prometheus-cc ( #1131 )
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Fixed typo in the CMakeLists file: tests were not linked against prometheus-cc
2018-04-30 16:57:08 +02:00
ff18bae528
Transform submap cells to global frame correctly. ( #1130 )
2018-04-30 12:12:48 +02:00
a3b746ff67
Use Task in ConstraintBuilder3D ( #1119 )
2018-04-27 22:14:19 +02:00
a32cfd247b
Pessimist ~Locker ( #1125 )
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FIXES=#1124
2018-04-27 20:41:13 +02:00
fe7aaf4d94
Added a fake file writer (writes to string instead of file) ( #1101 )
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Added fake filer writer which writes the output to a string instead of a file.
This will help writing tests for classes that use the file writer interface to write data.
2018-04-27 13:45:54 +02:00
c46fe073b4
Use Task in ConstraintBuilder2D ( #1118 )
2018-04-26 12:33:36 +02:00
666095cb41
Introduce metric to measure the length of the SLAM queue ( #1117 )
2018-04-25 22:09:56 +02:00
5356bdf9a8
Rename metrics since slashes are not allowed in Prometheus ( #1115 )
2018-04-25 17:34:30 +02:00
41f17e57cd
Introduce Grid and RangeDataInserter ( #1108 )
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- 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 )
2018-04-25 16:51:30 +02:00
91fda93757
Schedule Task in ThreadPool ( #1113 )
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This introduces scheduling of tasks with dependencies to ThreadPool.
Contrary to work items, tasks are only queued for execution after all
their dependencies have completed.
2018-04-25 16:12:30 +02:00
89ac5cbabf
Test GlobalSlam3D ( #1114 )
2018-04-25 15:00:13 +02:00
0118531659
correct bazel define ( #1112 )
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This is required by map_builder_server_main.cc
2018-04-25 13:56:34 +02:00
3d2ca564b6
Fix some Clang warnings. ( #1109 )
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task.cc: -Wparentheses
task_test.cc: -Winconsistent-missing-override
2018-04-25 12:22:11 +02:00
d9ada58710
Removed check for existence of first submap of first trajectory in pose graph optimization ( #1099 )
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Removed check for existence of first submap of first trajectory.
This check is equivalent to the original implementation which got changed in [#584 ](https://github.com/googlecartographer/cartographer/pull/584/files )
2018-04-24 16:32:31 +02:00
f51e4f4f05
Introduce Task ( #1066 )
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This introduces the new class common::Task. A Task can have dependencies to other tasks, notify ThreadPoolInterface when all its dependencies are fulfilled, and can be executed in the background.
2018-04-24 15:57:44 +02:00
3dd37da51b
Move constraint_builders together. ( #1103 )
2018-04-23 13:49:25 +02:00
3b5830745e
Test ConstraintBuilder2D/3D ( #1100 )
2018-04-23 12:52:20 +02:00
d29153a744
Replace ProbabilityGrid in Submap2D by Grid2D ( #1097 )
2018-04-20 22:58:46 +02:00
e2623991da
Return only optimized & finished submaps for trimmer. ( #1104 )
2018-04-20 22:19:16 +02:00
4aa2af23de
Move files related to optimization to optimization/. ( #1102 )
2018-04-20 20:52:17 +02:00
eebced5e16
Clean-up colliding 'SubmapData' names. ( #1096 )
2018-04-20 18:15:37 +02:00
643bc825e9
ThreadPoolForTesting ( #1098 )
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Necessary to test ConstraintBuilder.
2018-04-20 13:12:52 +02:00
8816d5710c
Invoke trimmer only when there are enough added submaps. ( #1095 )
2018-04-20 09:05:05 +02:00
29c3e056ed
Next Open house and switch CET to CEST. ( #1092 )
2018-04-20 00:30:12 +02:00
7f67f074a1
Limit `bazel test` parallelism more precisely ( #1094 )
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Since it is only the tests in cartographer/cloud that cannot run
concurrently with each other, use `tags = ["exclusive"]` to say that
they should not be run at the same time as other tests.
This works locally, not just in CI, and should speed up the CI job by
2-3 minutes.
2018-04-19 18:51:20 +02:00
ab7402ffbb
Use references for constraints & nodes in TrimmingHandle. ( #1091 )
2018-04-19 17:09:16 +02:00
20c80068b2
Base ConstraintBuilder2D on correspondence cost function ( #1088 )
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- 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 )
2018-04-19 11:59:28 +02:00
f4937b5cc6
Base ceres scan matcher on correspondence cost function ( #1085 )
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- Base ceres scan matcher on correspondence cost function instead of probabilities
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-19 10:24:16 +02:00
9b3606b7c0
Fix glog warning ( #1082 )
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by updating to a version that properly enables __attribute__. This is
the last warning in the Bazel build.
2018-04-18 21:04:11 +02:00
337e594662
Introduce option to enable SSL encryption for LocalTrajectoryUploader ( #1084 )
2018-04-18 16:47:03 +02:00
3383643627
Add configuration for Bazel CI ( #1083 )
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This builds and tests on Ubuntu 16.
2018-04-18 15:43:39 +02:00
03d56871c1
Correspondence cost based probability grid ( #1081 )
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- Store probabilities as correspondence costs
- Add conversion functions for correspondence cost values
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-18 14:46:38 +02:00
214606457c
Switch to batch uploading for cloud based mapping and add retries ( #1070 )
2018-04-18 14:02:43 +02:00
23f6de46b0
Use area instead of cells count for overlapping trimmer options. ( #1080 )
2018-04-17 18:22:38 +02:00
26e8ce63ba
Add async_grpc dependency to cartographer_grpc ( #1079 )
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The map_builder_server target requires async_grpc.
2018-04-17 17:25:18 +02:00
4278dbb7ea
Speed up slow tests ( #1077 )
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Same checks, half the time.
2018-04-17 15:41:09 +02:00
ed0a8846f1
Allow execution of Submap2D::ToResponseProto without a grid ( #1078 )
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- related to https://github.com/googlecartographer/cartographer_ros/issues/819
2018-04-17 14:27:09 +02:00
74970be757
Add overlapping trimmer params to TrajectoryBuilderOptions. ( #1076 )
2018-04-17 13:00:04 +02:00
e215c170e7
Remove redundant function declaration. ( #1075 )
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Makes clang happy again.
2018-04-17 10:22:00 +02:00
2be3c1f636
Add sparse Eigen support to Bazel build. ( #1074 )
2018-04-17 09:46:51 +02:00
a82a62f8a0
Replace Submap2D grid member by unique_ptr ( #1073 )
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- replace the `ProbabilityGrid` member of `Submap2D` by `unique_ptr<ProbabilityGrid>`
- allow `Submap2D` to handle `proto::Submap2D` without a defined grid field
- resolve https://github.com/googlecartographer/cartographer/issues/1071
2018-04-16 18:19:59 +02:00
c20f22e986
Suppress warnings for Bazel third_party deps ( #1054 )
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These warnings occur when building with gcc 7.3.0.
2018-04-16 17:48:18 +02:00
911c9ab920
Update Prometheus to avoid warning ( #1058 )
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This pulls in https://github.com/jupp0r/prometheus-cpp/pull/103 (fix
warning) and https://github.com/jupp0r/prometheus-cpp/pull/98 (add
missing header).
2018-04-16 17:15:10 +02:00
Christoph Schütte
Sebastian Klose
gaschler
Martin Schwörer
Alexander Belyaev
Kevin Daun
Michael Grupp
Holger Rapp
Rodrigo Queiro
Julius Kammerl