a6aacd0647
Fix and add CHECKs when writing X-ray output. ( #120 )
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Before the allocation was too large which resulted in excessive memory
consumption. Also adds CHECKs for the stride size and the success of the Cairo
writer function.
2016-11-08 16:14:35 +01:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
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This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
3e64a803a4
Consistently name weight parameter. ( #116 )
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All parameters scaling optimization residuals to determine relative
importance are now consistently named.
2016-10-28 16:39:45 +02:00
32b5beb225
Move single caller function to call site. ( #113 )
2016-10-28 16:27:06 +02:00
1081473be9
Fix FindGMock.cmake and the CMake modules installation. ( #112 )
2016-10-28 15:43:13 +02:00
b94880c56e
Improves parameter names. ( #111 )
2016-10-28 13:26:13 +02:00
f45eaa9c67
Supports system-wide installed GMock ( #105 )
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This commit fixes #73 .
Tested using docker ubuntu:trusty and native Fedora 24 with gmock 1.8.
2016-10-28 12:23:21 +02:00
404bbfcc2b
Add SubmapToProto to the map builder. ( #110 )
2016-10-27 16:20:58 +02:00
a5b81ff159
Allow continuing after running a "final" optimization. ( #109 )
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And a tiny cleanup of the submap visualization query.
2016-10-27 15:25:57 +02:00
a33bddd4cd
Removes unneccessary num_available_packets() API. ( #108 )
2016-10-27 13:06:49 +02:00
224b068fe9
CHECKs that all queues are finished on destruction. ( #106 )
2016-10-27 11:45:27 +02:00
15f9244577
Removes sensor packet period histogram. ( #104 )
2016-10-26 15:23:37 +02:00
6e6d2decaa
Fixes for Xenial. ( #103 )
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- Remove use of get_property(LOCATION in cmake where this is easy. This
reduces build warnings sufficiently to not drown out other important
information.
- Mark cairo a dependency in package.xml so rosdep pulls it in.
Tested using docker -t ros:kinetic, which is based on Xenial.
2016-10-26 14:23:00 +02:00
651a7a23e7
Rename trajectory and submap visualization protos. ( #101 )
2016-10-26 08:45:52 +02:00
4917dd65ce
Add serialization of the sparse pose graph. ( #97 )
2016-10-25 16:56:26 +02:00
a3157239b7
Adds a voxel filtering and moving objects removing points processor. ( #99 )
2016-10-25 16:36:56 +02:00
915dbd1894
Adds a CountingPointsProcessor. ( #98 )
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It outputs the number of points processed at its stage in the pipeline
and is useful for understanding how many points a filter removed.
2016-10-25 16:09:47 +02:00
2f42c990f6
Adds a fixed sampling points processor. ( #96 )
2016-10-25 15:37:47 +02:00
46f8883d6a
Make all 'PointProcessor's registerable with the PipelineBuilder. ( #95 )
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Also the default instance has now knowledge of all of Cartographer's
'PointsProcessor's by default.
2016-10-25 15:18:32 +02:00
188dcb57e5
Adds a class that can build a points processing pipeline out of a Lua configuration. ( #94 )
2016-10-25 12:27:58 +02:00
90e2f02e9d
Add a PCD writing points processor. ( #92 )
2016-10-25 12:11:44 +02:00
05adba7c51
Improves sensor data queue logging. ( #93 )
2016-10-25 11:09:08 +02:00
3986ad5328
Moving a temporary prevents copy elision. ( #91 )
2016-10-20 19:11:29 +02:00
695c303c56
Fix layering check for headers. ( #90 )
2016-10-20 18:48:52 +02:00
4d81b58a39
Remove unused code. ( #89 )
2016-10-20 13:54:12 +02:00
5b16f4bcb6
Simplify 3D visualization code. ( #88 )
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Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
4b7e2efbd9
Add code to serialize a trajectory to proto. ( #87 )
2016-10-20 10:53:43 +02:00
f2916143ef
Adds a PointProcessor that writes ASCII files. ( #86 )
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The files will just contain XYZ points in a file of their own. This is
useful for example as interop with AutoCAD.
2016-10-20 09:28:18 +02:00
3cf59a0266
Collate sensor data in the MapBuilder. ( #85 )
2016-10-19 17:25:44 +02:00
15b58766f5
Use pkg-config variables for yaml-cpp. ( #84 )
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Related to googlecartographer/cartographer_ros#117 .
2016-10-19 17:11:31 +02:00
a560c97c2b
Adds Docker caching to Travis. ( #83 )
2016-10-19 16:50:20 +02:00
e566bb73f5
Adds CollatedTrajectoryBuilder. ( #82 )
2016-10-19 16:29:26 +02:00
d4e04a3cda
Unify to AddLaserFan for both 2D and 3D. ( #81 )
2016-10-19 15:02:31 +02:00
9031f0533a
Adds a PLY writing points processor. ( #80 )
2016-10-19 14:03:05 +02:00
4a9116a58e
PointsProcessor can now ask for another pass over the data. ( #69 )
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* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
2016-10-19 13:11:13 +02:00
a7663f6c15
Pulls sensor ID out of sensor::Data. ( #77 )
2016-10-18 17:37:40 +02:00
8705d462fb
Revert "Adds Docker caching to Travis." ( #78 )
2016-10-18 17:14:25 +02:00
fddb1e32a0
Moves time into sensor::Data. ( #76 )
2016-10-18 16:07:18 +02:00
534c627c28
Adds Docker caching to Travis. ( #72 )
2016-10-18 15:42:23 +02:00
653ce1706a
Detemplatize OrderedMultiQueue. ( #75 )
2016-10-18 15:09:29 +02:00
ccc26a7f4f
Add missing <vector> include. ( #74 )
2016-10-18 14:35:45 +02:00
4d361abe41
Extract SpaCostFunctions into their own files. ( #71 )
2016-10-17 16:14:24 +02:00
f798805c4f
Removes templating on data type. ( #68 )
2016-10-17 14:47:48 +02:00
2eca021003
Moves SensorCollator into sensor package. ( #58 )
2016-10-17 10:18:17 +02:00
c2aed53ce8
Adds a points processing pipeline and a XRay creator. ( #66 )
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- Adds cairo as required dependency.
- Adds an 'io' module.
2016-10-14 15:14:46 +02:00
b81e855a8d
update_cmakelists.py now support running over multiple directories. ( #65 )
2016-10-14 13:43:09 +02:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
9020f71605
Remove LaserFan in favor of LaserFan3D. ( #62 )
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LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
cac501cdb1
Always use the 3D voxel filter. ( #61 )
2016-10-13 18:56:41 +02:00
5aad2d6feb
Change 2D scan matching to use 3D point clouds. ( #60 )
2016-10-13 17:52:05 +02:00
Wolfgang Hess
Damon Kohler
Atsushi Watanabe
Holger Rapp
Damon Kohler