1a9b18db69
Change num_submaps_in_trajectory to using trajectory IDs. ( #277 )
...
Related to #256 .
2017-05-11 14:32:55 +02:00
7b1915b906
Fix bug in ToProto introduced in #275 .
2017-05-11 14:02:04 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
...
Related to #256 .
2017-05-11 13:36:12 +02:00
95f0d013c6
Rename Constraint::i -> submap_id. ( #274 )
...
Related to #256 .
2017-05-11 11:43:47 +02:00
660eb341ff
Optimization problem only deals with trajectory IDs now. ( #273 )
...
Related to #256 .
PAIR=wohe
2017-05-10 17:12:38 +02:00
926b0320cb
Use per-trajectory SubmapData in OptimizationProblem. ( #272 )
2017-05-10 16:28:58 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
...
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
45de59b116
Move trajectory id mapping into the SparsePoseGraph. ( #270 )
2017-05-10 08:23:57 +02:00
524b613f2c
`submap_pose`s are now owned by the OptimizationProblem. ( #269 )
2017-05-09 17:24:48 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
...
PAIR=wohe
2017-05-09 15:21:30 +02:00
c664d7b966
Comply to CMake's CMP0037. ( #267 )
...
Test target names are generated from the directory and
source filename. Now "/"s are replaced by "."s which are
allowed by CMP0037.
2017-05-08 18:09:39 +02:00
772d02c00e
Move ConstantData into the SPG ( #263 )
2017-05-08 17:10:07 +02:00
9194c8679b
Clean up. ( #266 )
...
Move trajectory builder options.
Remove the barely used Interval template.
Inline the remaining CMakeLists.txt subdirectories.
2017-05-08 15:29:13 +02:00
522b37979a
Enable multiple configuration for multi-trajectory ( #248 )
2017-05-08 11:58:53 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
...
Related to #250 .
2017-05-04 15:38:41 +02:00
12b3cc0d7b
Support new Debian version of gmock and add testing for debian systems ( #236 )
2017-05-04 12:47:12 +02:00
6d2feaa8c7
Build and run all tests found by the glob. ( #258 )
2017-05-03 16:55:13 +02:00
ff06e37579
Remove the LaserScan proto. ( #257 )
2017-05-03 16:20:04 +02:00
cdd366bab4
Remove intensities - they are unused in SLAM. ( #247 )
2017-05-03 13:44:15 +02:00
1cdcd12a8b
Make missing case statements an error. ( #245 )
2017-05-02 16:56:10 +02:00
2f3a9f4dcc
Add support for files containing multiple protos. ( #241 )
...
This adds code for reading and writing files that contain
sequences of compressed protocol buffer messages.
2017-04-28 15:05:42 +02:00
b4b83405ce
Fix divison by zero. ( #240 )
...
If mapping_2d::LocalTrajectoryBuilder::AddHorizontalRangeData is called
twice in a row with the same `time`, the `velocity_estimate_` becomes
`inf` which led to `inf`s in the optimization problem, which led to
failures inside Ceres.
Fixes #233 .
2017-04-26 14:14:24 +02:00
245e356449
Const-ify ProbabilityGrid::ToProto ( #238 )
2017-04-25 09:34:17 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
...
We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
...
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
4f1914b2b4
Remove extraneous Eigen/Geometry include ( #232 )
2017-03-31 08:46:48 +02:00
2854c485ef
Enable building in Debug mode if the user really wants this ( #230 )
...
Also inform the user about slow performance if they do this.
2017-03-30 17:00:50 +02:00
cb0d1a6d5a
Remove inclination warning ( #231 )
...
Resolves #194 .
2017-03-30 16:39:53 +02:00
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
bda68c33d9
Fix warning about struct being redefined as class ( #228 )
2017-03-28 08:57:13 +02:00
1e5b49ce62
Minor sparse_pose_graph.proto improvement ( #226 )
2017-03-24 09:03:36 +01:00
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
a2abe45542
Rename CompressedLaserFan to CompressedRangeData. ( #223 )
...
CompressedLaserFan is misleading since data can come from a
different type of sensor, e.g. a depth camera.
2017-03-22 13:06:41 +01:00
c78f29fdac
Adds #include <array> in files that use std::array ( #222 )
2017-03-20 08:37:47 +01:00
76868b7edb
Adds HybridGrid proto serialization ( #220 )
2017-03-14 11:44:19 +01:00
8bf6f101c5
Adds probability grid serialization to proto ( #208 )
2017-03-09 09:01:10 +01:00
30b9fcce34
Claim an old TODO. ( #209 )
2017-03-01 10:26:48 +01:00
370e1e52df
Enable adding as a CMake subproject ( #203 )
...
This is done by replacing CMAKE_*_DIR variables with PROJECT_*_ variables so
that CMake uses correct paths when libcartographer is a subproject
Move AllFiles.cmake into the project binary dir instead of the root CMake binary dir,
use a project-dependent detect_changes target name
This makes overriding it from an upper level CMakeLists.txt possible, which is required
when doing a super-build which doesn't require installing libcartographer.
2017-02-09 15:57:54 +01:00
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
b4a1021538
Formatting changes. ( #199 )
2017-02-08 14:30:38 +01:00
ddb3c890a6
Actually check that all points are colored or none. ( #192 )
2017-01-26 16:49:25 +01:00
97bb74157f
Remove redundant "virtual". ( #191 )
2017-01-26 13:37:02 +01:00
2dd912f5e7
Always take std::function<> by value. ( #188 )
...
Taking it by reference increases the chance of dangling references
without a significant performance gain.
2017-01-26 11:35:09 +01:00
f047ad35c1
Add Ceres sparse linear algebra library dependency ( #189 )
...
Ceres can be built without linking against a sparse linear algebra library
such as SuiteSparse or Eigen-sparse. This can happen if the user does not
have all the dependencies, which normally get installed when following
the Cartographer installation guide. In this case, Cartographer will
work, but without loop closures, because Ceres is not working fast enough
(the loop closure optimization without a sparse linear algebra library
is a few orders of magnitude slower). Another bad side effect of this is
that Cartographer will hang when finalizing the trajectory or on exit,
because all loop closing optimizations will be waiting in a queue which
can take hours to process.
When Ceres is regularly built against a sparse linear algebra library, as it
is supposed to be, it declares a component named SparseLinearAlgebraLibrary.
Because normal functioning of Cartographer seemingly depends on this being
present, it is introduced here in Cartographer as a required Ceres component
dependency.
2017-01-26 11:14:58 +01:00
965caf7470
Make intensities a separate channel in PointsBatch. ( #187 )
...
And add a PointsProcessor that translates from intensities to RGB.
Fixes #171 .
2017-01-24 15:08:41 +01:00
0fe51185be
Color X-Rays using the color of points. ( #185 )
...
Colorless points are considered to be black. Creating assets with
intensities will give now brighter X-Rays. I plan to fix this by adding
intensities besides colors into PointBatch and having a PointsProcessor
that converts intensities into colors.
2017-01-23 14:18:08 +01:00
92b89d12c8
Adds a PointCloudProcessor that colors points by frame_id. ( #184 )
2017-01-17 17:21:05 +01:00
99f79e3f69
Adds a FileWriter abstraction ( #182 )
2017-01-17 12:29:11 +01:00
1f27268664
Add resolution of option types to the documentation script. ( #180 )
2017-01-10 12:23:10 +01:00
Holger Rapp
Wolfgang Hess
Yutaka Takaoka
Jochen Sprickerhof
catskul
Mac Mason
Juraj Oršulić
William Woodall
William Woodall