74970be757
Add overlapping trimmer params to TrajectoryBuilderOptions. ( #1076 )
2018-04-17 13:00:04 +02:00
e215c170e7
Remove redundant function declaration. ( #1075 )
...
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 )
...
- 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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
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 )
...
Fix lint errors.
2018-04-11 09:56:22 +02:00
7b0963216f
Move FakeTrimmable implementation to internal/testing. ( #1050 )
...
* 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
cf358e7640
Internal cleanup ( #1045 )
...
Clean up the lint errors.
2018-04-10 09:43:36 +02:00
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
e89625d36a
Correctly use PrecomputationGridStack for 2D and 3D ( #1040 )
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FIXES=#1038
2018-04-09 14:29:45 +02:00
b1dcb0cc5e
Remove unused 'freeze_landmarks_' field. ( #1039 )
2018-04-05 18:40:48 +02:00
e26e9f172b
RangeDataCollator handles empty range data. ( #1036 )
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FIXES=#1019
2018-04-04 15:20:10 +02:00
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
41fc7e38cc
Rename the setters according to style-guide. ( #1032 )
...
just a nit
2018-04-03 18:56:44 +02:00
e8b0bfb285
Add last open house slides. ( #1028 )
2018-04-03 09:24:18 +02:00
8c6c584524
Allow trimmers fetch submap data. ( #1024 )
2018-03-28 12:07:28 +02:00
962393074a
New fixes for Jets. ( #1023 )
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Issue #1015
2018-03-27 14:26:21 +02:00
94f564d871
Test trimming within trajectory ( #1020 )
2018-03-27 12:50:35 +02:00
e0e1c081e7
Do not use operator*= with Jets. ( #1018 )
2018-03-26 15:55:50 +02:00
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
915ebb19a6
Use async_grpc ( #1013 )
...
Use async_grpc
2018-03-23 10:52:48 +01:00
ab1c99ab34
Update next Cartographer Open House date. ( #1008 )
2018-03-20 14:34:15 +01:00
e48e21849a
Acquire mutex before copying landmark poses. ( #1007 )
2018-03-19 16:16:46 +01:00
4cc758e830
Serialize landmark observations. ( #1006 )
2018-03-19 15:12:47 +01:00
7a7908ebb9
Test PureLocalizationTrimmer with actual pose graph ( #1004 )
2018-03-19 11:43:19 +01:00
b23ec8ce4e
Fix PureLocalizationTrimmer ( #1002 )
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Remove the wrong assumption that submap index is sequential from 0.
2018-03-19 10:35:35 +01:00
ee530d2423
Purge some additional jets ( #1000 )
2018-03-16 19:12:56 +01:00
1f9c78a82b
Remove float-to-jet casts where possible. ( #998 )
2018-03-16 14:53:10 +01:00
6102f374b1
Build Ceres with C++11. ( #999 )
2018-03-16 13:03:57 +01:00
06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. ( #997 )
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[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-03-16 12:01:55 +01:00
37a68cd7f4
LocalTrajectoryBuilder uses RangeDataCollator ( #996 )
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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
55065a2108
Mockable optimization ( #994 )
2018-03-15 14:13:59 +01:00
Alexander Belyaev
Christoph Schütte
Kevin Daun
Rodrigo Queiro
gaschler
Michael Grupp
jie
Juraj Oršulić