Alexander Belyaev
def4048e95
Make the cloud_uplink address empty by default. ( #974 )
2018-03-09 16:57:58 +01:00
Alexander Belyaev
2fe1867221
Fix writing the pbstream via gRPC. ( #973 )
2018-03-09 16:26:03 +01:00
Alexander Belyaev
daa35d3bc8
Move in_memory_proto_stream.* to internal. ( #969 )
...
Internal Headers RFC
2018-03-09 15:24:07 +01:00
Juraj Oršulić
e1109356cf
Require Ceres built against SuiteSparse ( #972 )
...
Fixes #971 .
2018-03-09 10:24:19 +01:00
Alexander Belyaev
bb4ba8b319
Split local_slam_result_data.h into base and 2d/3d parts. ( #967 )
2018-03-08 15:17:31 +01:00
Alexander Belyaev
b29986f297
Remove the pointers to the derived PoseGraph*D classes from map_builder. ( #966 )
2018-03-08 14:49:41 +01:00
Alexander Belyaev
20a980aade
Remove 'pose_graph_*d.h' from local_slam_result_data.h. ( #965 )
2018-03-08 13:09:43 +01:00
Alexander Belyaev
256b5a6ff0
Remove '2d/probability_grid.h' include from 'submaps.h'. ( #964 )
2018-03-08 11:56:42 +01:00
Kevin Daun
82a491181d
Add IsTrajectoryFrozen to PoseGraph ( #962 )
...
Adds IsTrajectoryFrozen to the PoseGraph interface
2018-03-08 11:18:08 +01:00
gaschler
ec078c7e1c
Pin gRPC version ( #963 )
...
Fixes build failure on trusty
2018-03-08 10:18:28 +01:00
Michael Grupp
7e05daa8ca
Remove dotfiles from build files in CMakeLists.txt ( #897 )
...
Avoids including unwanted files that could appear in a developer
workspace (e.g. auto-generated files in "dot" folders).
2018-03-06 18:39:46 +01:00
Alexander Belyaev
f34df22a24
Update header guards. ( #959 )
2018-03-05 14:55:51 +01:00
Alexander Belyaev
cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. ( #960 )
2018-03-05 14:09:04 +01:00
Alexander Belyaev
f76d8a8a0d
Move cartographer_grpc/ to cartographer/cloud. ( #958 )
...
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md )
2018-03-05 12:41:38 +01:00
Alexander Belyaev
93c450bf6c
Change R"PROTO raw strings to just R". ( #957 )
...
That is actually why Wally was pushing these changes to everyone: clang-format is ignoring these raw strings and does some weird formatting.
2018-03-05 11:47:00 +01:00
Alexander Belyaev
61552314a0
Rename cartographer_grpc:: namespace as cartographer: ☁️ :. ( #955 )
...
[Code structure RFC](e11bca586f/text/0000-code-structure.md
)
also
`cartographer_grpc::mapping::` -> `cartographer:☁️ :`.
`cartographer_grpc::sensor::` -> `cartographer:☁️ :`.
2018-03-02 23:21:28 +01:00
Alexander Belyaev
b79e5b8e29
Move framework/, sensor/, testing/ to internal/. ( #954 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
Added `map_builder_server_interface.h/cc` to hide `framework/*.h`.
2018-03-02 14:16:49 +01:00
Rodrigo Queiro
b51bf3dd6d
Fix warning about incorrect workspace name ( #951 )
...
The workspace name for prometheus-cpp has been updated to the correct
canonical name.
2018-03-02 13:32:58 +01:00
Alexander Belyaev
d05e5d99f4
Hide 'handlers' to internal/. ( #952 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
`LocalTrajectoryUploader` implementation was hidden in the anonymous namespace in `local_trajectory_uploader.cc` to remove dependency from handlers/ in the header. The follow-up PR will include splitting the files into `local_trajectory_uploader_interface.h` & `internal/local_trajectory_uploader.*`
2018-03-02 11:38:35 +01:00
gaschler
a2219cb2fc
Correct comment ( #948 )
2018-03-02 10:25:23 +01:00
Alexander Belyaev
97c039bab2
Move pose_graph_stub/trajectory_builder_stub to internal. ( #950 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
Also moved /mapping to /client. Namespace changes will follow.
2018-03-01 18:30:30 +01:00
gaschler
0156e6b8ce
Instrument metrics in local trajectory builders. ( #946 )
...
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md )
2018-02-28 16:32:40 +01:00
gaschler
df1ee4bb29
Fix metric label. ( #944 )
...
This makes metrics_test in debug mode happy.
2018-02-28 14:46:26 +01:00
Christoph Schütte
c8c81dff35
Ignore pure_localization option on server ( #933 )
...
Fixes #914
2018-02-28 12:47:19 +01:00
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