b0945e4a4d
Implement AddTrajectoryHandlerTest. ( #886 )
2018-02-05 14:50:43 +01:00
28993a8963
Use landmarks in optimization (both 2D & 3D). ( #884 )
...
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-02-05 13:23:00 +01:00
9bebeea742
Serialize and deserialize trajectory builder options ( #859 )
2018-02-05 09:45:43 +01:00
df518b80c8
Remove gRPC proto compiler invocation from CMakeLists.txt ( #878 )
2018-02-02 21:04:34 +01:00
c212bbb698
Hand through intensities into the generated PLY - if they exist. ( #885 )
2018-02-02 18:29:18 +01:00
655bd65abc
Fix sphinx-build errors in evaluation.rst ( #883 )
...
Adds language arguments that are required for code blocks in newer Sphinx versions.
Resolves the missing code blocks in the HTML output.
2018-02-02 15:13:23 +01:00
86a8944589
Implement tests for various data adding handlers ( #881 )
2018-02-02 01:16:14 +01:00
92fa1782f3
Implement RetryStrategies and use for AddTrajectory ( #880 )
2018-02-01 22:31:33 +01:00
9eaf960936
Configure remaining tests in bazel ( #879 )
2018-02-01 21:58:59 +01:00
eed51b8bb6
Cleaning up dependencies for constraint builder & optimization problem. ( #877 )
2018-02-01 20:59:22 +01:00
9ca06bd06b
Add ground truth documentation. ( #853 )
...
See [RFC 10](https://github.com/googlecartographer/rfcs/blob/master/text/0010-document-groundtruth-features.md )
[Rendered version](https://github.com/magazino/cartographer/blob/doc-groundtruth/docs/source/evaluation.rst )
2018-02-01 18:53:43 +01:00
302320b1a9
Use framework::Client everywhere. ( #875 )
...
This switches all gRPC method invocation to using framework::Client. After this change we can remove the gRPC proto compiler from the build files.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-02-01 17:19:15 +01:00
8ea46857ac
Move cerec_pose.* to mapping/pose_graph. ( #874 )
2018-02-01 15:16:50 +01:00
731bc89f22
Move handlers to cc, use MapBuilderContextInterface ( #873 )
...
This is to avoid a circular dependency with LocalTrajectoryUploader and to clean up.
2018-02-01 14:34:41 +01:00
d195c77ebc
Add a 2D landmark cost function. ( #868 )
...
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-02-01 13:39:24 +01:00
60e9fa59fe
Implement AddImuDataHandlerTest ( #872 )
...
This PR introduces first gRPC handler test that takes advantage of new RpcHandlerTestServer.
2018-02-01 13:05:08 +01:00
e735203a05
Extend MapById::lower_bound() to support structs with 'time' field. ( #871 )
...
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-02-01 11:58:13 +01:00
eb3e63bad6
Implement WriteMapHandler. ( #851 )
2018-02-01 11:21:50 +01:00
27e8c84f2e
Introduce MapBuilderContextInterface ( #869 )
2018-01-31 19:22:08 +01:00
ab890a8e15
Move 3D landmark cost function to mapping_3d/. ( #870 )
...
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-01-31 18:40:10 +01:00
a749d28a67
Introduce framework::Client ( #867 )
...
Introduces a framework::Client class that makes it more convenient to call gRPC methods.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
2018-01-31 17:45:57 +01:00
0440761474
Move slerp and scaling of error to 'cost_helpers'. ( #864 )
...
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-01-31 17:06:49 +01:00
ad4dc3c4d3
Bazel: build with -Wno-sign-compare ( #863 )
...
This avoids warnings for code like:
```
CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
```
2018-01-31 15:19:36 +01:00
855743cac4
Check handler signature ( #866 )
2018-01-31 14:46:59 +01:00
9aecf23a37
Simplify Handler registration. ( #865 )
2018-01-31 12:26:56 +01:00
708e7fc57d
Add a 'cost_helpers' library. ( #862 )
...
* Add a 'cost_helpers' library.
* Change naming and add comments.
2018-01-30 22:12:25 +01:00
93568641f9
Implement LandmarkCostFunction 3D. ( #860 )
2018-01-30 15:18:13 +01:00
a7ed7e224f
Upload LocalSlamResultData ( #858 )
...
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md )
PAIR=cschuet
2018-01-29 14:02:33 +01:00
7d2e39af4b
gRPC handler testing ( #857 )
2018-01-29 12:01:17 +01:00
8316444319
Store landmark observations as LandmarkNodes in PoseGraph. ( #850 )
2018-01-29 10:17:05 +01:00
49d89d0759
Move mocks out of client_test.cc into testing/ folder. ( #854 )
2018-01-26 17:56:36 +01:00
dab69e0ca0
Struct SensorId ( #839 )
...
* WIP, started unordered_set<SensorId>
* struct SensorId. Works for cartographer without grpc.
* correct test
* SensorId in cartographer_grpc/
* clean up
* try to fix for trusty
* SensorId::operator==
* Ran clang-format.
2018-01-26 15:07:49 +01:00
1d2613c8e2
Add gRPC version of RunFinalOptimization(). ( #852 )
2018-01-25 17:31:03 +01:00
edb18231b6
Add ProtoStreamWriterInterface and implement forwarding writer. ( #849 )
2018-01-25 15:27:50 +01:00
65889f14a0
Bazel: use cartographer_grpc_server as in CMakeLists.txt ( #848 )
2018-01-25 13:28:31 +01:00
894bad397d
Rename Landmark->LandmarkObservation. ( #847 )
2018-01-25 12:10:30 +01:00
37ddf9e550
Add gRPC version of LoadMap(). ( #842 )
...
Later they will be used in map_builder_stub and load_map_handler.
2018-01-25 09:27:42 +01:00
a103e8f93a
Implement 'num_trajectory_builders' in map_builder_stub. ( #845 )
...
A huuuuuge PR.
2018-01-25 08:59:52 +01:00
aee1bc46dc
Introduce InMemoryProtoStreamReader. ( #844 )
...
* Introduce InMemoryProtoStreamReader.
* Move inmemory*.* to in_memory*.*.
2018-01-24 13:58:15 +01:00
52527ec6d4
Add licenses() declarations to BUILD files ( #843 )
...
These were in some, but not all, of the existing BUILD files. They make
it easier to vendor cartographer, as Bazel complains if a BUILD file in
//third_party is missing a licenses() declaration.
2018-01-24 13:16:25 +01:00
1ff4c00d70
Fix the Bazel build when used as an external repo ( #840 )
...
Specifically, the cartographer_repositories() macro must refer to the
BUILD files contained in the cartographer workspace.
2018-01-23 22:00:12 +01:00
8e2a017612
Build cartographer_grpc with Bazel ( #841 )
...
This doesn't work when cartographer is an external workspace, due to a
limitation in cc_grpc_library. However, the //cartographer target will
still work it is external, and cartographer_grpc users can vendor the
repository.
2018-01-23 21:29:41 +01:00
f1616e16ec
Introduce bazel docker file ( #838 )
2018-01-23 10:50:51 +01:00
43008d391d
Introduce a ProtoStreamReaderInterface. ( #837 )
...
* Introduce a ProtoStreamReaderInterface.
* Remove the comments from interface def.
2018-01-23 09:09:37 +01:00
986ac28ff8
Rename 'tranform' to 'landmark_to_tracking_transform'. ( #836 )
2018-01-22 18:30:14 +01:00
6d4649857a
Move implementation of ReadProto/WriteProto to .cc ( #835 )
2018-01-22 17:53:31 +01:00
0c227097e7
Add a Bazel build for cartographer ( #834 )
...
This does not include cartographer_grpc, nor any of the binaries
(*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with
the latest (at time of writing) dazel/dazel container, by running:
```
bazel build //...
bazel test //...
```
While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
2018-01-22 16:47:07 +01:00
67850d25a0
Replace templates in io/proto_stream.h with upcasting. ( #833 )
2018-01-22 14:12:14 +01:00
9e30c1e0cd
Send LandmarkData via gRPC. ( #831 )
...
* Send LandmarkData via gRPC.
[RFC PR](https://github.com/googlecartographer/rfcs/pull/18 )
* Fix the nits.
2018-01-19 17:24:30 +01:00
746c9c83c8
Propagate LandmarksData to the PoseGraph. ( #830 )
...
Propagate LandmarkData to the PoseGraph.
2018-01-19 09:41:24 +01:00
Christoph Schütte
Alexander Belyaev
Juraj Oršulić
Holger Rapp
Michael Grupp
gaschler
Rodrigo Queiro