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1061 Commits (2d698e70e808762ee0eaf51c399ecf69191221a8)

Author SHA1 Message Date
Michael Grupp 4351bdb3c8 Separate global optimization constraints for local SLAM and odometry (#1029) 
Implements [RFC-0018](https://github.com/googlecartographer/rfcs/blob/master/text/0018-odometry-use-in-optimization-problem.md)
 2018-04-10 14:44:43 +02:00
jie cf358e7640 Internal cleanup (#1045) 
Clean up the lint errors.
 2018-04-10 09:43:36 +02:00
jie 74b35caf6e Internal clean up. (#1042) 
Add necessary headers to convenient the import to google.
Require holding mutex for some function that access the variables that guard by mutex.
 2018-04-09 19:18:58 +02:00
gaschler e89625d36a Correctly use PrecomputationGridStack for 2D and 3D (#1040) 
FIXES=#1038
 2018-04-09 14:29:45 +02:00
Alexander Belyaev b1dcb0cc5e Remove unused 'freeze_landmarks_' field. (#1039) 2018-04-05 18:40:48 +02:00
gaschler e26e9f172b RangeDataCollator handles empty range data. (#1036) 
FIXES=#1019
 2018-04-04 15:20:10 +02:00
Alexander Belyaev abb2661b76
Allow trimmer to get nodes/constraints. (#1034) 
* Allow trimmer to get nodes/constraints.

* Mark the methods const.
 2018-04-04 12:50:12 +02:00
Alexander Belyaev 41fc7e38cc Rename the setters according to style-guide. (#1032) 
just a nit
 2018-04-03 18:56:44 +02:00
Christoph Schütte e8b0bfb285 Add last open house slides. (#1028) 2018-04-03 09:24:18 +02:00
Alexander Belyaev 8c6c584524
Allow trimmers fetch submap data. (#1024) 2018-03-28 12:07:28 +02:00
Alexander Belyaev 962393074a New fixes for Jets. (#1023) 
Issue #1015
 2018-03-27 14:26:21 +02:00
gaschler 94f564d871
Test trimming within trajectory (#1020) 2018-03-27 12:50:35 +02:00
Alexander Belyaev e0e1c081e7
Do not use operator*= with Jets. (#1018) 2018-03-26 15:55:50 +02:00
Juraj Oršulić ae05658ff7 Work around FindGMock/Catkin target name clash (#1011) 
Handle case with multiple invocations (avoid pasting ${CMAKE_THREAD_LIBS_INIT} multiple times).
Also check if target 'gmock' already exists before building GMock to avoid failures if GMock was already
find_packaged() from another subproject.

FIXES=https://github.com/googlecartographer/cartographer_ros/issues/776
 2018-03-26 14:23:32 +02:00
Christoph Schütte 915ebb19a6
Use async_grpc (#1013) 
Use async_grpc
 2018-03-23 10:52:48 +01:00
Christoph Schütte ab1c99ab34 Update next Cartographer Open House date. (#1008) 2018-03-20 14:34:15 +01:00
Alexander Belyaev e48e21849a
Acquire mutex before copying landmark poses. (#1007) 2018-03-19 16:16:46 +01:00
Alexander Belyaev 4cc758e830
Serialize landmark observations. (#1006) 2018-03-19 15:12:47 +01:00
gaschler 7a7908ebb9 Test PureLocalizationTrimmer with actual pose graph (#1004) 2018-03-19 11:43:19 +01:00
gaschler b23ec8ce4e
Fix PureLocalizationTrimmer (#1002) 
Remove the wrong assumption that submap index is sequential from 0.
 2018-03-19 10:35:35 +01:00
Juraj Oršulić ee530d2423 Purge some additional jets (#1000) 2018-03-16 19:12:56 +01:00
Alexander Belyaev 1f9c78a82b
Remove float-to-jet casts where possible. (#998) 2018-03-16 14:53:10 +01:00
Alexander Belyaev 6102f374b1
Build Ceres with C++11. (#999) 2018-03-16 13:03:57 +01:00
Alexander Belyaev 06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. (#997) 
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-16 12:01:55 +01:00
gaschler 37a68cd7f4 LocalTrajectoryBuilder uses RangeDataCollator (#996) 
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
FIXES=#910
 2018-03-15 16:34:51 +01:00
gaschler 55065a2108 Mockable optimization (#994) 2018-03-15 14:13:59 +01:00
gaschler bd7d7202bf Filter RangeMeasurement (#995) 
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-15 12:31:08 +01:00
gaschler 067d01a364 Test PoseGraph3D (#990) 2018-03-15 11:44:47 +01:00
gaschler ed47f9d8f8 OptimizationProblemInterface (#991) 
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
 2018-03-15 11:12:26 +01:00
Alexander Belyaev e6c4ee4b8b Move interpolation of poses to 'cost_helpers'. (#992) 2018-03-15 10:33:02 +01:00
Alexander Belyaev 1e4d558ac4
Add landmarks to the state and deserialize them. (#988) 2018-03-14 21:36:15 +01:00
gaschler 36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. (#945) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-03-14 14:51:40 +01:00
Alexander Belyaev 0190e7cd99 Clean-up dependencies of map_builder and put getters to the header. (#989) 2018-03-14 13:33:44 +01:00
Alexander Belyaev c060a15670
Remove dead code: fast_global_localizer. (#987) 2018-03-13 16:23:27 +01:00
Alexander Belyaev 4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. (#986) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 15:18:05 +01:00
Wolfgang Hess c09b643d8d Synchronize correctly in FinishTrajectory(). (#980) 
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
 2018-03-13 14:10:51 +01:00
Alexander Belyaev 525f7afe7e
Move sensor-related stuff to internal/. (#985) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 13:36:45 +01:00
gaschler 1187480fe6 Introduce RangeDataCollator (#975) 
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-13 11:08:01 +01:00
Alexander Belyaev 976736051c
Move scan matchers to internal/. (#983) 2018-03-13 10:21:27 +01:00
Alexander Belyaev 70c7660348
Move even more stuff to internal/. (#982) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 17:46:31 +01:00
Alexander Belyaev bfbf29dcd6
Move mapping/pose_graph/ to internal/. (#979) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 14:00:18 +01:00
Alexander Belyaev 418e0964bf
Move pose_graph_*d related files to internal/. (#976) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 12:42:52 +01:00
Juraj Oršulić 091a4f852d Update descriptions in pose_graph.h (#977) 
Remove "frozen", since deserialized trajectories can be unfrozen since #891.
 2018-03-10 23:50:31 +01:00
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