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139 Commits (71c951b3708a6461063516cb448a30f61a66b13c)

Author SHA1 Message Date
Holger Rapp eeb17bf055 Adds google_binary to create installable binaries. (#43) 
- 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 #94. (#41) 2016-10-11 11:22:33 +02:00
catskul 045f6a7522 Pass Eigen arguments by const reference (#38) 
Fixes #35.
 2016-10-11 09:57:41 +02:00
catskul 49ec6a9e37 Add .gitignore to hide the "build" directory (#40) 2016-10-10 18:07:48 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. (#32) 2016-10-05 17:27:08 +02:00
Damon Kohler f70e868b08 Small fixes to README. (#31) 2016-10-04 15:39:44 +02:00
Wolfgang Hess 8238ad8bc3 Do not accumulate scans by default for 3D SLAM. (#30) 2016-10-04 14:59:09 +02:00
Wolfgang Hess d2962c004f Remove the 'also_match_to_new_submaps' option. (#29) 
Instead, using a different constraint_builder.sampling_ratio is preferred.
 2016-09-30 16:00:10 +02:00
Damon Kohler 092b020c15 Adds demo video to readme. (#28) 2016-09-29 13:22:00 +02:00
Wolfgang Hess e526a7022f Remove covariance computation from branch-and-bound. (#27) 
These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
 2016-09-23 14:27:19 +02:00
Wolfgang Hess 14355a91a1 Remove dead code. (#26) 2016-09-22 17:53:32 +02:00
Wolfgang Hess 0796d50b00 Removes max_covariance_trace option. (#25) 
This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
 2016-09-22 11:35:47 +02:00
Damon Kohler 83a29df102 Renames expect_imu to use_imu. (#24) 2016-09-08 16:36:05 +02:00
Damon Kohler fc166fdefa Adds MapBuilder and cleans up some configurations. (#23) 2016-09-08 16:21:25 +02:00
Wolfgang Hess 54a7faf294 Optimize only once per submap in 2D. (#22) 
The setting was unintentionally set to optimize twice per submap which
harms parallelism.
 2016-09-08 14:36:33 +02:00
Wolfgang Hess ea0f93aa9a Adds the libwebp-dev dependency to package.xml. (#21) 2016-09-02 11:49:27 +02:00
Wolfgang Hess 175e9e4aab Add reference to the paper to the documentation. (#20) 2016-09-01 11:46:17 +02:00
Damon Kohler fef592c41b Switch to using our own Catkin wrapper for Ceres. (#18) 2016-08-30 15:28:44 +02:00
Wolfgang Hess e5585c6ace Clean up package.xml and add missing dependencies. (#19) 
Clean up package.xml and add missing dependencies.
 2016-08-30 14:48:12 +02:00
Wolfgang Hess 83faf925c0 Improve the Cartographer documentation. (#17) 
Cartographer itself is not the ROS integration component.
Also adds a link to the cartographer_ros repository.
 2016-08-29 10:23:27 +02:00
Damon Kohler c28fcc7152 Adds build status badge. (#16) 2016-08-26 17:42:38 +02:00
Wolfgang Hess 5b20df7fcb Fix a bug introduced in the recent clean up. (#13) 2016-08-26 17:40:37 +02:00
Damon Kohler 0c9f416da8 Fixes display of installation steps. (#15) 2016-08-26 17:34:51 +02:00
Damon Kohler 9a303d0526 Sets up Travis CI. (#14) 2016-08-26 16:34:38 +02:00
Wolfgang Hess 817dc884d5 Clean up and simplify MapLimits. (#12) 
MapLimits no longer keeps redundant data.
 2016-08-25 15:40:05 +02:00
Damon Kohler 9134a8967d Moves the bulk of our documentation to Sphinx. (#11) 2016-08-25 15:39:51 +02:00
Wolfgang Hess 4c6a2fcb28 Clean up of XYIndexRangeIterator and MapLimits. (#10) 2016-08-24 18:01:14 +02:00
Damon Kohler b50f1a6e96 Adds rate timer. (#8) 2016-08-24 15:37:30 +02:00
Wolfgang Hess afa0cef31d Clean up xy_index.h. (#9) 
Removes and simplifies code from free standing functions in xy_index.h.
 2016-08-24 15:33:13 +02:00
Damon Kohler 1be7e8e226 Updates authors and description. (#7) 2016-08-23 17:49:42 +02:00
Damon Kohler 6bb6236ebb Renames doc to docs. (#6) 
This now matches the readthedocs.org getting started guide.
 2016-08-23 17:22:04 +02:00
Tully Foote a2533cd75e Adds a few missing rosdeps. (#5) 
This change depends on: ros/rosdistro#12453
 2016-08-23 01:33:58 -07:00
Damon Kohler cf9e365bc2 Improved logging for loading Lua configurations. (#4) 2016-08-23 01:31:36 -07:00
Wolfgang Hess 6e56578394 Rename to local/global map frame. (#2) 
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
 2016-08-10 12:09:52 +02:00
Wolfgang Hess aa7b060ac5 Remove unnecessary explicit dependency on glog. (#3) 
It is not needed (anymore?) and leads to linking errors
(does not find libglog) when glog_catkin is used and
libgoogle-glog-dev is not installed.
 2016-08-10 11:34:52 +02:00
Damon Kohler a3fe3181e0 Splits installation instructions into ROS/non-ROS. (#1) 
Adds missing ROS dependency to package.xml.
 2016-08-03 16:27:48 +02:00
Damon Kohler 269c28cb0c Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00
Damon Kohler 188e5fb7bd Moves the contents of the ros subdirectory to the new googlecartographer/cartographer_ros repo. 2016-08-03 12:46:59 +02:00
Damon Kohler 166f2568bc Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00