ecaa95f3b0
Move occupied space cost function to .cc ( #1200 )
2018-06-19 12:31:11 +02:00
a9045fa375
Introduce TrajectoryState ( #1201 )
...
[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 11:48:09 +02:00
5d26742bfa
LoadStateFromFile ( #1202 )
...
[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 11:00:41 +02:00
42c1288e66
Add LoadState() test case to ClientServerTest. ( #1189 )
2018-06-15 14:31:18 +02:00
849f2a66ac
clarify comment ( #1196 )
2018-06-15 13:06:02 +02:00
0e25fafc47
Fixes display of IMU correction angle. ( #1193 )
...
When the 'imu_calibration' quaternion has a negative real part,
correction angles above 180 degrees were displayed. This fixes
the issue.
2018-06-12 17:10:19 +02:00
de22b9c311
Rename to TrimSubmap ( #1192 )
...
Trimmable::MarkSubmapAsTrimmed was incorrectly named and commented.
It really trims the submap.
2018-06-12 16:01:14 +02:00
f79c6afee7
Rename namespace to testing ( #1191 )
...
We commonly use the namespace testing for test helpers,
so rename similar namespaces to "testing" for consistency.
2018-06-12 15:18:20 +02:00
29f6ea9ea3
Test LoadState and pure localization ( #1190 )
2018-06-12 12:49:07 +02:00
5055703490
Use PoseGraphData in PoseGraph3d. ( #1188 )
...
[RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0022-pose-graph-data.md )
2018-06-08 14:40:24 +02:00
3437b931dd
Introduce PoseGraphModel and use it in 2D. ( #1185 )
...
[RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0022-pose-graph-data.md )
2018-06-08 11:52:08 +02:00
47a25e9e6f
Add links to the Open House slides. ( #1187 )
2018-06-07 20:36:18 +02:00
e8b211f674
Writing probability grid as proto with probability grid points processor ( #1069 )
...
The probability grid points processor can now be configured to write the probability grid as pbstream. Before it was only possible to write the probability grid as png.
2018-06-06 16:11:37 +02:00
3f0bb0eec5
Fixing 846 without tests. ( #1183 )
...
Fixing "Optimizing: -nan%... #846" https://github.com/googlecartographer/cartographer/issues/846 .
The issue was triggered in a multithreaded execution, when all nodes were processed, but the working queue was still non empty (having other kind of jobs).
Unfortunately I failed to reproduce the bug in tests, so no new tests were added.
2018-06-06 15:38:10 +02:00
4ef38497a9
Skip the Collator for the landmark data. ( #1184 )
2018-06-06 14:14:01 +02:00
5bda2a567c
Release 1.0 ( #1177 )
2018-06-05 12:54:07 +02:00
f83ba3db2f
Fix LoadState gRPC ( #1179 )
2018-06-04 11:11:28 +02:00
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
000b967c79
adding LOG output to migration tool ( #1180 )
...
Adding some log-feedback to the serialization migration tool.
2018-06-04 09:35:37 +02:00
73d18e5fc5
Using new serialization format. ( #1174 )
...
Updates everyone to use the new serialization format.
A corresponding PR will be made in cartographer_ros for the various tools.
2018-05-30 13:31:33 +02:00
87370371ec
Making a test nicer: procrastination and nits. ( #1175 )
2018-05-30 12:56:59 +02:00
876a41f06f
Provide local poses via GetTrajectoryNodePoses() ( #1172 )
2018-05-30 07:34:49 +02:00
a35092c20f
Mapping state deserializer ( #1171 )
...
class for de-serializing mapping state stored in the new serialization format [RFC 0021](https://github.com/sebastianklose/rfcs/blob/serialization_format/text/0021-serialization-format.md ).
Not used yet. Will be hooked up in a separate PR that switches all logic to the new serialization format at once.
2018-05-29 22:10:11 +02:00
fbb2835525
Implement receive_global_slam_optimizations_handler ( #1169 )
2018-05-29 19:26:33 +02:00
a9c90da1a8
Migration tool for serialization format ( #1167 )
...
* New serialization protos
* Moved old definition to legacy_serialized_data.proto
* defining new serialization format as oneof.
* Changing to legacy datatype
* adding serialization migration
* moving to io
* adding serialization migration
* moving to io
* adding file for test
* adding test
* test for order or migrated serialized data
* test for order or migrated serialized data
* renaming tool
* addressing comments
* addressing more comments
* minor polishing
2018-05-29 16:56:18 +02:00
cd7df83e1c
Add maintainers and authors to package.xml ( #1170 )
2018-05-29 14:25:58 +02:00
1d050ede3f
Mapping state serialization ( #1166 )
...
[Serialization RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md )
2018-05-28 23:49:21 +02:00
405c0e17e8
Defining new serialization proto ( #1165 )
...
[Serialization RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0021-serialization-format.md )
2018-05-28 15:11:29 +02:00
ce18ec7295
Add SetGlobalSlamOptimizationCallback() ( #1164 )
...
to allow setting the GlobalSlamOptimizationCallback after MapBuilder and PoseGraph
creation. Also removes the GlobalSlamOptimizationCallback from the Constructor
since it is not used.
Prerequisite for implementing ReceiveGlobalSlamOptimizations() in gRPC MapBuilderInterface.
2018-05-25 12:29:52 +02:00
207979f209
Add relative transform error 2d documentation. ( #1163 )
2018-05-23 13:22:26 +02:00
2f9ee597d0
Add analytical 2d cost function for pose graph (not used yet). ( #1161 )
2018-05-23 12:07:27 +02:00
f4c4d2ad40
Add CSV export to the evaluation tool ( #1159 )
...
- adds `covered_distance` to the ground truth relations
- the flags `write_relation_metrics` and `relation_metrics_filename` control whether and where to write the relations metrics as comma-separated values
2018-05-17 12:14:03 +02:00
d419fe8fd7
More const PoseGraph interface ( #1156 )
...
Making getters and non-modifying methods in PoseGraph* const.
Before most getters where marked non-const because of the need to acquire the mutex for thread safety. This forces all code using the PoseGraph to pass it around as a non-const object even if the consumer is not altering the object.
By making the mutexes mutable we can make getters and methods that do not change the PoseGraph const and thus enable consumer APIs to express how they are going to use the PoseGraph as well.
fixes #1021
2018-05-17 09:30:40 +02:00
a0ec8046bd
Allow easier access to CeresPose's data_ ( #1149 )
...
Introduce a FromPose function which transforms a Ridig3d pose into the
CeresPose's Data format.
2018-05-15 22:32:03 +02:00
d2453bce50
Update README.rst ( #1144 )
2018-05-15 09:38:44 +02:00
ee8e2fa4d6
Introduces a lockless queue for multiple producers and a single consumer ( #1152 )
2018-05-11 21:14:18 +02:00
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
FIXES=#1124
2018-04-27 20:41:13 +02:00
fe7aaf4d94
Added a fake file writer (writes to string instead of file) ( #1101 )
...
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
Kevin Daun
gaschler
Christoph Schütte
Wolfgang Hess
Alexander Belyaev
Martin Schwörer
sotnik-github
Sebastian Klose
Robert Milijaš