Christoph Schütte
96cdbde5bf
Introduce PoseGraphInterface. ( #744 )
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[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md )
2017-12-08 11:13:48 +01:00
gaschler
549eef0000
Correct namespace ( #742 )
2017-12-07 21:17:30 +01:00
gaschler
3b5a72eebc
Script for address sanitizer tests ( #745 )
2017-12-07 15:26:10 +01:00
Michael Grupp
176fc42c3f
Remove empty leftover of pose_estimate.h ( #740 )
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Follow-up of #670 .
2017-12-07 08:53:04 +01:00
gaschler
5c694adf93
Correct cmake install ( #739 )
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Simplify how file lists are collected depending on options.
Omits gRPC headers if they were not built.
2017-12-06 20:34:07 +01:00
Christoph Schütte
2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. ( #738 )
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This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
2017-12-06 16:36:36 +01:00
gaschler
4c999037b4
Integration tests for local slam. ( #734 )
2017-12-06 15:58:16 +01:00
Christoph Schütte
ded778cd34
Implementation of Add/FinishTrajectoryHandler. ( #732 )
2017-12-05 16:36:54 +01:00
Christoph Schütte
697be9a77b
Add MappingServer skeleton. ( #730 )
2017-12-05 14:46:25 +01:00
gaschler
49d55d97c1
Test MapBuilder ( #731 )
2017-12-05 14:04:10 +01:00
gaschler
b77a1f2178
Remove implementation from TrajectoryBuilder. ( #728 )
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To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
2017-12-05 11:05:05 +01:00
gaschler
ee9c61a736
Move LocalSlamResultCallback to AddTrajectory ( #724 )
2017-12-04 22:41:38 +01:00
Christoph Schütte
0315acf050
Add Slides for Cartographer open house X ( #725 )
2017-12-04 20:08:31 +01:00
Christoph Schütte
e950062367
Add Cartographer service proto. ( #723 )
2017-12-04 17:30:42 +01:00
Christoph Schütte
32a8364b98
Implement bi-directional streaming RPCs. ( #720 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-12-04 15:28:19 +01:00
gaschler
1ff8243802
Test RotationDeltaCostFunctor ( #721 )
2017-12-01 09:25:15 +01:00
gaschler
63e901d276
Create AutoDiffCostFunction in cost functions. ( #718 )
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Creating a ceres::AutoDiffCostFunction requires specifying numbers
of residuals and variables, so it is safer to implement this within
the cost functions, which know best.
2017-11-30 15:41:57 +01:00
gaschler
85bfb888eb
Interface for MapBuilder ( #715 )
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Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-30 14:41:48 +01:00
Christoph Schütte
5147af9763
Implement unary gRPC calls. ( #719 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-30 13:18:16 +01:00
gaschler
24f253a2aa
Remove GetBlockingTrajectoryId ( #714 )
2017-11-30 12:04:14 +01:00
Christoph Schütte
999820d845
Implement shared ExecutionContext for handlers. ( #716 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-29 14:05:31 +01:00
Christoph Schütte
3a46804393
Implement end-to-end client streaming RPC. ( #713 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-29 10:40:26 +01:00
Christoph Schütte
02359a98ae
Implement connection establishment and server startup and shutdown. ( #712 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-28 10:50:30 +01:00
Jihoon Lee
88805a301d
Trim all submaps when pure localization trajectory is finished. ( #563 )
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Fixes #560
based on #562
2017-11-28 10:21:55 +01:00
Juraj Oršulić
bebe021b04
Serialize fixed frame pose data. ( #689 )
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Similar to #666 and #548 .
2017-11-28 09:44:35 +01:00
gaschler
1c7183d5c4
VoxelFilter for TimedPointCloud, Filter method. ( #710 )
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This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
2017-11-27 15:12:07 +01:00
gaschler
c292d76f86
Test ImuTracker ( #711 )
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Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
2017-11-27 14:46:32 +01:00
Christoph Schütte
cd289bbcee
Introduce RPC class and start wiring up in Service ( #701 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-24 23:41:58 +01:00
Christoph Schütte
f6a7dfd07b
Update Travis Docker file for Trusty to build gRPC code ( #709 )
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[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2017-11-24 22:08:51 +01:00
Wolfgang Hess
7e82ac3bbf
Make IMU cost functions internal. ( #708 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-24 15:29:48 +01:00
Wolfgang Hess
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
gaschler
0084f14c1c
CeresScanMatcher target_translation ( #702 )
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For its translation cost function, CeresScanMatcher now takes
a target translation as an argument instead of a pose, which
was confusing.
2017-11-24 12:26:14 +01:00
Wolfgang Hess
0819e52a9c
Make the LocalTrajectoryBuilders internal. ( #704 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-24 10:39:12 +01:00
Wolfgang Hess
8e6101de5c
Make the OccupiedSpaceCostFunction internal. ( #703 )
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[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-23 18:04:36 +01:00
Wolfgang Hess
70a0f41364
Remove unused code. ( #699 )
2017-11-23 16:39:55 +01:00
gaschler
9bfc52d878
Rename arguments of CostFunctors to target_ ( #700 )
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Rename constant targets of cost functors to target_*.
Pass only translation to Translation cost functors.
2017-11-23 16:04:49 +01:00
Christoph Schütte
38eeb17164
Introduce gRPC server, service and rpc handlers ( #692 )
2017-11-23 15:37:30 +01:00
Wolfgang Hess
ec034b13bc
Do not install global_trajectory_builder.h. ( #698 )
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This moves the global_trajectory_builder.h header under
cartographer/internal and changes the CMakeLists.txt to
not install internal headers.
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2017-11-23 14:47:29 +01:00
Juraj Oršulić
8f9f1cf44e
Fix debug build ( #697 )
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Similar to #418 .
2017-11-23 14:20:01 +01:00
gaschler
147c8166b6
ImuTracker uses conjugate. ( #693 )
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Normalized quaternions can be inverted with conjugate, which is faster.
The motivation for optimizing ImuTracker::Advance is that
per-point unwarping will call this for every point.
2017-11-23 13:50:44 +01:00
gaschler
a8bd98680e
ExtrapolatePose uses fewer transforms. ( #694 )
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ExtrapolatePose avoids conversion to Rigid3d and computes translation
and rotation directly, which is faster.
Per-point unwarping will call this function for every point, so we
optimize it.
2017-11-23 12:27:26 +01:00
Christoph Schütte
41bb8be0fb
Prepare 0.3.0 release ( #696 )
2017-11-23 10:27:08 +01:00
Christoph Schütte
c233aaaac8
Update CMakeLists.txt to preprare for gRPC deps. ( #691 )
2017-11-22 16:29:01 +01:00
Juraj Oršulić
31f28b5097
Remove PoseEstimate. ( #670 )
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Replaces #620 .
Depends on switching `cartographer_ros` to use the new callback API for handling the last scan and pose estimate (googlecartographer/cartographer_ros#594 ).
2017-11-17 16:47:06 +01:00
Wolfgang Hess
aba4575d93
Rename 'submap_transforms' to follow terminology. ( #688 )
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https://google-cartographer.readthedocs.io/en/latest/terminology.html
Related to #602 .
2017-11-17 13:13:45 +01:00
Christoph Schütte
b91ff8fe44
Extrapolate poses for ground truth relations. ( #687 )
2017-11-17 12:27:31 +01:00
Wolfgang Hess
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
Holger Rapp
5ee830e8cc
Cleanup and new features in Image code. ( #685 )
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- Removes stride_, since we know for a fact that it is always width * 4.
- Adds a constructor from a cairo surface.
- Adds a function that rotates the image by 90 degrees.
This is in preparation of adding a tool that can generate an image from a .pbstream.
2017-11-16 17:05:18 +01:00
Holger Rapp
0b4e7a9443
Refactor image related code. ( #684 )
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- Take immutable parameter as const ref instead of pointer.
- make kCairoFormat a global constant, since it is defined in many places in cartographer and cartographer_ros, but we rely on it actually always being the same value.
2017-11-16 15:07:05 +01:00
gaschler
b9015f33a7
Filter early in AddRangeData. ( #681 )
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Filter earlier in 3D.
Combine two transforms to one in 2D.
2017-11-16 13:35:44 +01:00