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944 Commits (1b455e57e57c90e3903ddddd37a52d007aac6307)

Author SHA1 Message Date
gaschler 363a337e67 Re-implement VoxelFilter with unordered_set (#938) 
Use hashing to filter voxels.
Handles arbitrary grid coordinates up to sizeof(int).

FIXES=#937
 2018-02-28 11:12:18 +01:00
Juraj Oršulić 32b8bd3581 Enable loading unfrozen state (#891) 
Enable loading unfrozen state
 2018-02-27 20:38:57 +01:00
Alexander Belyaev 29875117b3
Move internal/mapping to mapping/internal. (#941) 2018-02-27 16:25:53 +01:00
gaschler 63fd497e0f Document HybridGrid limits. (#939) 
Adds documentation to avoid issue #937.
 2018-02-27 15:28:35 +01:00
gaschler f606d4b91c Gracefully handle time-overlapping point clouds. (#936) 
Per-point relative times are usually computed by multiplying
a per-point time increment by the number of points.
So it is not uncommon for consecutive point clouds of a single
sensor to overlap in time.
When this happens, we act as if no backward jump in time happened
and warn once per input point cloud.

FIXES=#912
 2018-02-26 18:38:00 +01:00
Alexander Belyaev 3ebfa757ef
Move mapping_*d to mapping/*d. (#935) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 17:40:29 +01:00
Alexander Belyaev e75e023ce2
Purge 'mapping_3d::'. (#927) (#928) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 14:26:41 +01:00
danielsievers 258aa715ba Move GetTrajectoryData() down to PoseGraphInterface (#932) 2018-02-26 12:45:53 +01:00
Christoph Schütte ed3502909c Add yesterday's slides. (#931) 2018-02-26 10:34:56 +01:00
Michael Grupp 90994464a5 Check ifstream::good() in proto_stream.cc (#929) 
Check for basic stream errors before doing more involved read actions.
The log message in this case is also more descriptive than
`Check failed: reader->ReadProto(&pose_graph)`.
 2018-02-22 16:21:15 +01:00
Alexander Belyaev 94fce13f62
Purge 'mapping_2d::'. (#927) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 19:44:53 +01:00
gaschler eabcab26ed Expose metrics as http page. (#920) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-21 18:52:57 +01:00
gaschler 30114e364a Instrument metrics in constraint builders. (#921) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-21 17:31:11 +01:00
gaschler 2711f4492f Test PoseExtrapolator (#926) 2018-02-21 16:43:58 +01:00
Alexander Belyaev 7d13383dec
Remove 'mapping_3d' namespace. (#922) (#925) 
Remove 'mapping_3d' namespace. (#922)

It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_3d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 14:24:12 +01:00
Alexander Belyaev f8dc89d8ff
Remove 'mapping_2d' namespace. (#922) 
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 12:41:14 +01:00
Alexander Belyaev 96d5e2819c
Move implementation of ProbabilityGrid to .cc file. (#924) 2018-02-21 09:55:40 +01:00
gaschler ab05459f1c Move GlobalTrajectoryBuilder to cc file (#923) 
* Move GlobalTrajectoryBuilder to cc file.

This allows to instrument file-level static metrics.
Also, it is a cleaner interface.

* two create functions

* drop superfluous typename
 2018-02-21 08:53:09 +01:00
Alexander Belyaev c32cb49b01
Fix gRPC loading of pbstreams. (#919) 2018-02-20 16:00:01 +01:00
Alexander Belyaev a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. (#918) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-20 15:28:21 +01:00
Alexander Belyaev 43544f0fbc
Rename mapping_2d::PoseGraph to mapping::PoseGraph2D. (#917) 
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-19 20:01:29 +01:00
gaschler a338b2e339 Collect metrics with Prometheus C++ Client (#916) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 18:11:59 +01:00
danielsievers c38bb60407 (De)serialize trajectory data from the optimization problem (#915) 
* Write/Read the trajectory data (gravity, imu calibration, and fixed frame origin) into the serialized state proto
 2018-02-19 16:30:32 +01:00
gaschler 3211e75957
Link prometheus client for grpc builds (#906) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 15:54:10 +01:00
gaschler 64bc194609 Introduce interfaces for metrics (#907) 
Adds interfaces for metrics and metrics families.
Adds creation of null (noop) metrics.
Declares global register function.

RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 14:02:54 +01:00
gaschler 8e27db0f0e Link prometheus client for bazel grpc build (#908) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 11:44:23 +01:00
gaschler 880b5c973b Update README.rst (#909) 2018-02-19 11:08:00 +01:00
Juraj Oršulić fb631ac9e6 Landmark improvements (#901) 2018-02-14 15:39:43 +01:00
gaschler cf01184114 Fix leak in LandmarkCostFunctionTest. (#902) 2018-02-14 12:38:01 +01:00
gaschler 9793542957 Add 3D global SLAM grpc test. (#904) 2018-02-14 12:04:52 +01:00
gaschler 244cf615f5 Make clang compile without warnings. (#903) 
Rule out accidental usage of integer-only ::abs.
Correct static, override and protected annotations.
 2018-02-14 11:06:46 +01:00
gaschler b2581b0d58 Make comparison operator const. (#898) 2018-02-13 13:03:26 +01:00
gaschler 7448f93b50 Avoid auto for Eigen expressions. (#899) 
While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
 2018-02-13 12:34:43 +01:00
Christoph Schütte 2a74484be1 Add slides from yesterday (#894) 2018-02-13 10:17:45 +01:00
Alexander Belyaev ac79f0c034
Save landmark poses after optimization run. (#896) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-12 13:15:16 +01:00
Alexander Belyaev b72bbb20c3
Fix the size of residuals, add test for jacobians. (#895) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-09 13:13:17 +01:00
Christoph Schütte ba113e4e05 Add slides from 180125. (#893) 2018-02-08 10:06:27 +01:00
Christoph Schütte 39f140da66 Follow googlecartographer/cartographer#859 (#892) 2018-02-07 16:35:44 +01:00
Alexander Belyaev 95dbcfdf9e Serialize landmarks. (#889) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-07 10:47:39 +01:00
Alexander Belyaev 7762087edf Fix some styling issues. (#890) 2018-02-07 10:14:59 +01:00
Alexander Belyaev 58bc1ced68
Implement GetLandmarkPoses method. (#888) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-06 18:13:31 +01:00
Christoph Schütte 9e977daf1d Remove gRPC compiler invocation from Bazel build (#887) 2018-02-05 16:28:36 +01:00
Christoph Schütte b0945e4a4d Implement AddTrajectoryHandlerTest. (#886) 2018-02-05 14:50:43 +01:00
Alexander Belyaev 28993a8963
Use landmarks in optimization (both 2D & 3D). (#884) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-05 13:23:00 +01:00
Juraj Oršulić 9bebeea742 Serialize and deserialize trajectory builder options (#859) 2018-02-05 09:45:43 +01:00
Christoph Schütte df518b80c8 Remove gRPC proto compiler invocation from CMakeLists.txt (#878) 2018-02-02 21:04:34 +01:00
Holger Rapp c212bbb698 Hand through intensities into the generated PLY - if they exist. (#885) 2018-02-02 18:29:18 +01:00
Michael Grupp 655bd65abc Fix sphinx-build errors in evaluation.rst (#883) 
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
Christoph Schütte 86a8944589 Implement tests for various data adding handlers (#881) 2018-02-02 01:16:14 +01:00
Christoph Schütte 92fa1782f3 Implement RetryStrategies and use for AddTrajectory (#880) 2018-02-01 22:31:33 +01:00