3d2ca564b6
Fix some Clang warnings. ( #1109 )
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task.cc: -Wparentheses
task_test.cc: -Winconsistent-missing-override
2018-04-25 12:22:11 +02:00
d9ada58710
Removed check for existence of first submap of first trajectory in pose graph optimization ( #1099 )
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Removed check for existence of first submap of first trajectory.
This check is equivalent to the original implementation which got changed in [#584 ](https://github.com/googlecartographer/cartographer/pull/584/files )
2018-04-24 16:32:31 +02:00
f51e4f4f05
Introduce Task ( #1066 )
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This introduces the new class common::Task. A Task can have dependencies to other tasks, notify ThreadPoolInterface when all its dependencies are fulfilled, and can be executed in the background.
2018-04-24 15:57:44 +02:00
3dd37da51b
Move constraint_builders together. ( #1103 )
2018-04-23 13:49:25 +02:00
3b5830745e
Test ConstraintBuilder2D/3D ( #1100 )
2018-04-23 12:52:20 +02:00
d29153a744
Replace ProbabilityGrid in Submap2D by Grid2D ( #1097 )
2018-04-20 22:58:46 +02:00
e2623991da
Return only optimized & finished submaps for trimmer. ( #1104 )
2018-04-20 22:19:16 +02:00
4aa2af23de
Move files related to optimization to optimization/. ( #1102 )
2018-04-20 20:52:17 +02:00
eebced5e16
Clean-up colliding 'SubmapData' names. ( #1096 )
2018-04-20 18:15:37 +02:00
643bc825e9
ThreadPoolForTesting ( #1098 )
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Necessary to test ConstraintBuilder.
2018-04-20 13:12:52 +02:00
8816d5710c
Invoke trimmer only when there are enough added submaps. ( #1095 )
2018-04-20 09:05:05 +02:00
29c3e056ed
Next Open house and switch CET to CEST. ( #1092 )
2018-04-20 00:30:12 +02:00
7f67f074a1
Limit `bazel test` parallelism more precisely ( #1094 )
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Since it is only the tests in cartographer/cloud that cannot run
concurrently with each other, use `tags = ["exclusive"]` to say that
they should not be run at the same time as other tests.
This works locally, not just in CI, and should speed up the CI job by
2-3 minutes.
2018-04-19 18:51:20 +02:00
ab7402ffbb
Use references for constraints & nodes in TrimmingHandle. ( #1091 )
2018-04-19 17:09:16 +02:00
20c80068b2
Base ConstraintBuilder2D on correspondence cost function ( #1088 )
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- Base `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D` on correspondence cost function instead of probabilities
- No changes in the options of `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D`
- Add properties `min/max_correspondence_cost` to `Grid2D` and `proto::Grid2D`
- Provide backwards compatibility for `proto::Grid2D`
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-19 11:59:28 +02:00
f4937b5cc6
Base ceres scan matcher on correspondence cost function ( #1085 )
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- Base ceres scan matcher on correspondence cost function instead of probabilities
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-19 10:24:16 +02:00
9b3606b7c0
Fix glog warning ( #1082 )
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by updating to a version that properly enables __attribute__. This is
the last warning in the Bazel build.
2018-04-18 21:04:11 +02:00
337e594662
Introduce option to enable SSL encryption for LocalTrajectoryUploader ( #1084 )
2018-04-18 16:47:03 +02:00
3383643627
Add configuration for Bazel CI ( #1083 )
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This builds and tests on Ubuntu 16.
2018-04-18 15:43:39 +02:00
03d56871c1
Correspondence cost based probability grid ( #1081 )
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- Store probabilities as correspondence costs
- Add conversion functions for correspondence cost values
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-18 14:46:38 +02:00
214606457c
Switch to batch uploading for cloud based mapping and add retries ( #1070 )
2018-04-18 14:02:43 +02:00
23f6de46b0
Use area instead of cells count for overlapping trimmer options. ( #1080 )
2018-04-17 18:22:38 +02:00
26e8ce63ba
Add async_grpc dependency to cartographer_grpc ( #1079 )
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The map_builder_server target requires async_grpc.
2018-04-17 17:25:18 +02:00
4278dbb7ea
Speed up slow tests ( #1077 )
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Same checks, half the time.
2018-04-17 15:41:09 +02:00
ed0a8846f1
Allow execution of Submap2D::ToResponseProto without a grid ( #1078 )
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- related to https://github.com/googlecartographer/cartographer_ros/issues/819
2018-04-17 14:27:09 +02:00
74970be757
Add overlapping trimmer params to TrajectoryBuilderOptions. ( #1076 )
2018-04-17 13:00:04 +02:00
e215c170e7
Remove redundant function declaration. ( #1075 )
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Makes clang happy again.
2018-04-17 10:22:00 +02:00
2be3c1f636
Add sparse Eigen support to Bazel build. ( #1074 )
2018-04-17 09:46:51 +02:00
a82a62f8a0
Replace Submap2D grid member by unique_ptr ( #1073 )
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- replace the `ProbabilityGrid` member of `Submap2D` by `unique_ptr<ProbabilityGrid>`
- allow `Submap2D` to handle `proto::Submap2D` without a defined grid field
- resolve https://github.com/googlecartographer/cartographer/issues/1071
2018-04-16 18:19:59 +02:00
c20f22e986
Suppress warnings for Bazel third_party deps ( #1054 )
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These warnings occur when building with gcc 7.3.0.
2018-04-16 17:48:18 +02:00
911c9ab920
Update Prometheus to avoid warning ( #1058 )
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This pulls in https://github.com/jupp0r/prometheus-cpp/pull/103 (fix
warning) and https://github.com/jupp0r/prometheus-cpp/pull/98 (add
missing header).
2018-04-16 17:15:10 +02:00
ce71273737
Add error messages for gRPC connection failures ( #1072 )
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Fixes https://github.com/googlecartographer/cartographer_ros/issues/825 .
2018-04-16 16:40:03 +02:00
7b68844937
Add a gRPC version of SetLandmarkPose(). ( #1068 )
2018-04-16 15:49:08 +02:00
75f899117a
Move to testing/. ( #1067 )
2018-04-16 12:47:11 +02:00
663e135426
add check ( #1063 )
2018-04-16 12:01:09 +02:00
74f74c4b61
Deserialize landmark poses. ( #1064 )
2018-04-13 16:38:45 +02:00
46d3a9443a
Introduce Grid2D as base class for 2D grids ( #1046 )
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This is a first step towards generalizing submaps (see [ongoing RFC discussion](https://github.com/googlecartographer/rfcs/pull/30 )).
Although this PR already introduces a correspondence cost grid, the grid is still used as probability grid.
2018-04-13 13:43:09 +02:00
b4c4ae6ea9
Update unfinished submap list on SLAM thread ( #1061 )
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Fixes #1052
2018-04-13 12:15:26 +02:00
b5e5477f75
Fix Sphinx build warning. ( #1055 )
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Removes 'WARNING: html_static_path entry [...] does not exist'.
2018-04-12 16:33:38 +02:00
d2f29d04b9
Improve pose terminology of 2D optimization problem. ( #1053 )
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Removes the confusing term `initial_pose` from global 2D optimization.
It makes sense in other areas like scan matching, but has a completely
different meaning there. Also matches the 3D equivalents better.
- `local_pose_2d` replaces `initial_pose` as the name for the
non-gravity-aligned, local 2D pose in the submap
- `global_pose_2d` replaces `pose` as the name for the
non-gravity-aligned, global 2D pose that is optimized
See the comment in the PR for how this improves readability.
2018-04-12 16:00:56 +02:00
14465aa23e
Refactor MapBuilderContext to reduce code duplication. ( #1059 )
2018-04-12 15:27:24 +02:00
a4346337bc
Address the comments for the overlapping submaps trimmer. ( #1060 )
2018-04-12 14:28:33 +02:00
f83d0a6ed6
Implement IsTrajectory{Finished,Frozen} in cloud mapping ( #1057 )
2018-04-12 12:37:04 +02:00
771336b3c9
Add overlapping submaps trimmer. ( #1027 )
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Trims submaps that have less than 'min_covered_cells_count' cells not overlapped by at least 'fresh_submaps_count` submaps.
2018-04-12 11:53:56 +02:00
e2966ca156
Do not install gmock ( #1047 )
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Fixes the issue described in https://github.com/googlecartographer/cartographer/pull/1041 .
The docker file is not to be merged, it is only here to help reproducing the issue and fix.
2018-04-11 13:48:03 +02:00
7286415e27
Remove unused variable. ( #1049 )
2018-04-11 13:15:09 +02:00
d1161b5f8e
Internal cleanup ( #1051 )
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Fix lint errors.
2018-04-11 09:56:22 +02:00
7b0963216f
Move FakeTrimmable implementation to internal/testing. ( #1050 )
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* Move FakeTrimmable implementation to internal/testing.
* Address the comments.
2018-04-10 18:05:03 +02:00
895f1d61b4
Glob only files in cartographer/ ( #1048 )
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FIXES=#1044
2018-04-10 15:14:59 +02:00
4351bdb3c8
Separate global optimization constraints for local SLAM and odometry ( #1029 )
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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
Michael Grupp
Martin Schwörer
Christoph Schütte
Alexander Belyaev
gaschler
Kevin Daun
Holger Rapp
Rodrigo Queiro
Julius Kammerl
jie