19a6eab07a
Change pbstream migrate to support new submap format. ( #1733 )
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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
e5894cce1f
Small Abseil fixes for dependents. ( #1711 )
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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
21a8299caa
Add Ubuntu 20.04 to the install scripts, CI, docs. ( #1706 )
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Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-06-18 14:44:58 +02:00
db85e0894d
Remove Ubuntu Trusty from CI. ( #1699 )
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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
1b0d4f1fee
Add Ubuntu 18.04 to the install scripts, CI, docs. ( #1697 )
2020-06-04 11:09:18 +02:00
1659f0dc8b
Fix build status on front page. ( #1693 )
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Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.
2020-06-02 14:08:16 +02:00
2b042311d8
Unified pbstream tool ( #1326 )
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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
8602bf9430
Nit: no hardcoded version and current year in Sphinx docs. ( #1268 )
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`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
30bc6bd97a
Add equations for landmark cost function. ( #1254 )
2018-07-12 13:25:57 +02:00
5b0fe666ee
Adding short description of pbstream migration tool ( #1181 )
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Adding a section to the docs, describing the existence and usage of the serialization migration tool.
2018-06-04 10:39:27 +02:00
207979f209
Add relative transform error 2d documentation. ( #1163 )
2018-05-23 13:22:26 +02:00
b5e5477f75
Fix Sphinx build warning. ( #1055 )
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Removes 'WARNING: html_static_path entry [...] does not exist'.
2018-04-12 16:33:38 +02:00
4351bdb3c8
Separate global optimization constraints for local SLAM and odometry ( #1029 )
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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
655bd65abc
Fix sphinx-build errors in evaluation.rst ( #883 )
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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
9ca06bd06b
Add ground truth documentation. ( #853 )
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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
f1616e16ec
Introduce bazel docker file ( #838 )
2018-01-23 10:50:51 +01:00
79b83b92b2
Make the MotionFilter internal. ( #707 )
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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
055728af93
Rename options for consistency. ( #686 )
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"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
16d62f45f0
Rename sparse_pose_graph options. ( #682 )
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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
c866707013
Fix the configuration documentation script. ( #679 )
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Fixes #652 .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
e29fc9787a
New proto compiler ( #644 )
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Also change Dockerfiles to build proto3 from HEAD.
PAIR=@cschuet
2017-11-10 11:16:44 +01:00
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
0cd0148577
Update the high level overview and provide a link to a copyable Google Sketch. ( #607 )
2017-10-20 14:56:29 +02:00
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
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Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
4fca78368d
Add Cartographer high level structure diagram to documentation ( #486 )
2017-09-28 08:27:27 +02:00
a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
96b71e227f
Add histograms for pose residuals ( #478 )
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* WIP Add histograms for pose residuals
* Address reviewers comments
* Address more comments.
2017-08-25 11:39:56 +02:00
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
4d11a226ff
Expose low resolution matching scores. ( #470 )
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This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
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Related to #369 .
2017-08-22 17:29:20 +02:00
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
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This removes the 'half_length' option.
PAIR=wohe
2017-07-05 14:17:04 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
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Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
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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
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
ff37b0bb7d
Remove output_debug_images. ( #358 )
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This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
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This follows #307 .
2017-06-01 15:04:07 +02:00
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
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Related to #250 .
2017-05-04 15:38:41 +02:00
4fa190d316
Rename LaserFan to RangeData. ( #224 )
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LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
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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
1f27268664
Add resolution of option types to the documentation script. ( #180 )
2017-01-10 12:23:10 +01:00
1c433e6f3a
Refactor the documentation update script. ( #179 )
2017-01-10 10:43:16 +01:00
cd0ebbf536
Add the configuration doc and an update script. ( #172 )
2016-12-21 16:21:43 +01:00
78747eda62
Fix documentation and Docker cache. ( #157 )
2016-12-09 13:08:43 +01:00
f6c9f9565f
Adds system requirements label. ( #46 )
2016-10-12 12:52:26 +02:00
1b7eb7fad7
Improves documentation. ( #44 )
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* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
2016-10-11 16:09:55 +02:00
54d4e0a9bb
Small documentation fixes. ( #32 )
2016-10-05 17:27:08 +02:00
175e9e4aab
Add reference to the paper to the documentation. ( #20 )
2016-09-01 11:46:17 +02:00
Wolfgang Hess
Sebastian Klose
Michael Grupp
Alexander Belyaev
Christoph Schütte
Wolfgang Hess
Wolfgang Hess
Holger Rapp
Damon Kohler
jie
Damon Kohler