Commit Graph

334 Commits (4d11a226ffe9c85b65d0638b4a4d40e4995a356b)

Author SHA1 Message Date
Holger Rapp 915dbd1894 Adds a CountingPointsProcessor. ()
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
Holger Rapp 2f42c990f6 Adds a fixed sampling points processor. () 2016-10-25 15:37:47 +02:00
Holger Rapp 46f8883d6a Make all 'PointProcessor's registerable with the PipelineBuilder. ()
Also the default instance has now knowledge of all of Cartographer's
'PointsProcessor's by default.
2016-10-25 15:18:32 +02:00
Holger Rapp 188dcb57e5 Adds a class that can build a points processing pipeline out of a Lua configuration. () 2016-10-25 12:27:58 +02:00
Atsushi Watanabe 90e2f02e9d Add a PCD writing points processor. () 2016-10-25 12:11:44 +02:00
Damon Kohler 05adba7c51 Improves sensor data queue logging. () 2016-10-25 11:09:08 +02:00
Holger Rapp 3986ad5328 Moving a temporary prevents copy elision. () 2016-10-20 19:11:29 +02:00
Holger Rapp 695c303c56 Fix layering check for headers. () 2016-10-20 18:48:52 +02:00
Wolfgang Hess 4d81b58a39 Remove unused code. () 2016-10-20 13:54:12 +02:00
Wolfgang Hess 5b16f4bcb6 Simplify 3D visualization code. ()
Removes the non-const Submaps accessor.
Adds -Werror=missing-braces.
2016-10-20 11:29:12 +02:00
Holger Rapp 4b7e2efbd9 Add code to serialize a trajectory to proto. () 2016-10-20 10:53:43 +02:00
Holger Rapp f2916143ef Adds a PointProcessor that writes ASCII files. ()
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
Wolfgang Hess 3cf59a0266 Collate sensor data in the MapBuilder. () 2016-10-19 17:25:44 +02:00
Holger Rapp 15b58766f5 Use pkg-config variables for yaml-cpp. ()
Related to .
2016-10-19 17:11:31 +02:00
Damon Kohler a560c97c2b Adds Docker caching to Travis. () 2016-10-19 16:50:20 +02:00
Wolfgang Hess e566bb73f5 Adds CollatedTrajectoryBuilder. () 2016-10-19 16:29:26 +02:00
Wolfgang Hess d4e04a3cda Unify to AddLaserFan for both 2D and 3D. () 2016-10-19 15:02:31 +02:00
Holger Rapp 9031f0533a Adds a PLY writing points processor. () 2016-10-19 14:03:05 +02:00
Holger Rapp 4a9116a58e PointsProcessor can now ask for another pass over the data. ()
* PointsProcessor can now ask for another pass.
* Added MinMaxFilteringPointsProcessor to have a user for RemovePoints.
2016-10-19 13:11:13 +02:00
Damon Kohler a7663f6c15 Pulls sensor ID out of sensor::Data. () 2016-10-18 17:37:40 +02:00
Damon Kohler 8705d462fb Revert "Adds Docker caching to Travis." () 2016-10-18 17:14:25 +02:00
Damon Kohler fddb1e32a0 Moves time into sensor::Data. () 2016-10-18 16:07:18 +02:00
Damon Kohler 534c627c28 Adds Docker caching to Travis. () 2016-10-18 15:42:23 +02:00
Damon Kohler 653ce1706a Detemplatize OrderedMultiQueue. () 2016-10-18 15:09:29 +02:00
Atsushi Watanabe ccc26a7f4f Add missing <vector> include. () 2016-10-18 14:35:45 +02:00
Wolfgang Hess 4d361abe41 Extract SpaCostFunctions into their own files. () 2016-10-17 16:14:24 +02:00
Damon Kohler f798805c4f Removes templating on data type. () 2016-10-17 14:47:48 +02:00
Damon Kohler 2eca021003 Moves SensorCollator into sensor package. () 2016-10-17 10:18:17 +02:00
Holger Rapp c2aed53ce8 Adds a points processing pipeline and a XRay creator. ()
- Adds cairo as required dependency.
- Adds an 'io' module.
2016-10-14 15:14:46 +02:00
Holger Rapp b81e855a8d update_cmakelists.py now support running over multiple directories. () 2016-10-14 13:43:09 +02:00
Wolfgang Hess 098349f67e Rename LaserFan3D to LaserFan. () 2016-10-14 12:06:54 +02:00
Wolfgang Hess 9020f71605 Remove LaserFan in favor of LaserFan3D. ()
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
Wolfgang Hess cac501cdb1 Always use the 3D voxel filter. () 2016-10-13 18:56:41 +02:00
Wolfgang Hess 5aad2d6feb Change 2D scan matching to use 3D point clouds. () 2016-10-13 17:52:05 +02:00
Wolfgang Hess 9006fb6fb1 Show the unprojected point cloud in 2D SLAM. ()
We now project to 2D later in 2D SLAM, so that the roll and pitch
applied to the laser fan in visible in the visualization.
2016-10-13 17:16:32 +02:00
Holger Rapp 0bf37d0190 update_cmakelists.py no longer overwrites. () 2016-10-13 15:30:44 +02:00
Wolfgang Hess 7d93ac3302 Simplify the conversion of LaserScan to LaserFan3D. () 2016-10-13 15:09:36 +02:00
Damon Kohler 518850999f Moves SensorData struct into Cartographer. () 2016-10-13 14:17:28 +02:00
Holger Rapp edff6a1e24 Remove all mentions of ZLIB. ()
We do not actually use zlib anywhere anymore.
2016-10-13 12:33:27 +02:00
Wolfgang Hess cc7cc6f72b Move the ImuTracker and OdometryStateTracker to mapping. ()
Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
Holger Rapp 8f64860b5d Preparing changes to use automatic CMakeFiles also in the ROS projects. () 2016-10-12 17:03:46 +02:00
Holger Rapp be813a06fe Prepare CMake files for testing support. ()
- Only build gmock if we really require testing.
- Adds a wrapper for generating catkin aware tests. This works around
  .
2016-10-12 15:38:12 +02:00
Holger Rapp 8e7996f015 Extend CMake functions for reuse in other Cartographer subprojects. ()
- Change CARTOGRAPHER_LIBRARIES to be absolute path to adhere to the
  CMake documentation.
2016-10-12 13:39:03 +02:00
Damon Kohler f6c9f9565f Adds system requirements label. () 2016-10-12 12:52:26 +02:00
Damon Kohler 1b7eb7fad7 Improves documentation. ()
* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
2016-10-11 16:09:55 +02:00
Holger Rapp eeb17bf055 Adds google_binary to create installable binaries. ()
- Do not link in Ceres if gflags or glog is used, but still rely on ceres
  to find those libraries for us.
- Update CMakeLists with new settings.
2016-10-11 15:18:59 +02:00
Damon Kohler 8f5fc98188 Improves logging, fixes . () 2016-10-11 11:22:33 +02:00
catskul 045f6a7522 Pass Eigen arguments by const reference ()
Fixes .
2016-10-11 09:57:41 +02:00
catskul 49ec6a9e37 Add .gitignore to hide the "build" directory () 2016-10-10 18:07:48 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. () 2016-10-05 17:27:08 +02:00