This implements a frequently used function (two times in cartographer_ros).
Also, it corrects a wrong repeated proto field access,
so we can fix cartographer_ros/issues/944.
Adds a boolean argument to MapBuilderInterface::SerializeState() to indicate whether the caller wants to include unfinished submaps in the serialized state.
For cartographer_grpc this argument will be set to false since unfinished submaps do not have a Grid which would lead to a crash in the Submap::ToProto() function.
@pifon2a I've noticed the `BUILD_COMMAND` is broken. You're setting `ABSL_BUILD_COMMAND`, but using `ABSEIL_BUILD_COMMAND` (effectively empty). Somehow this doesn't confuse newer CMakes, but the one you install on Trusty gets confused and interprets this as a no-op build step. This causes the indigo pipeline in cartographer_ros to fail.
Use the cross-platform build command instead:
https://cmake.org/cmake/help/latest/module/ExternalProject.html#obtaining-project-properties (just above the linked paragraph)
PR #1224 introduced checks for `collate_landmarks` and `collate_fixed_frame` in the `CollatedTrajectoryBuilder`. However, it falsely checks for `collate_landmarks` in the `AddSensorData(FixedFramePoseData)` function. This PR fixes that.
Consolidating pbstream tools into a single tool
* adds two subcommands for now (info and migrate)
* removes commandline flags for filenames in favor of commandline args
* updates documentation for migration tool
* [GenericPoseGraph] Add rotation 3d constraint.
* [GenericPoseGraph] Add serialization tests for constraints.
* Remove files from other branch
* Updated include paths.
Added new constructor for `RotationalScanMatcher` and exposed `RotateHistogram`.
This PR prepares for PR #1277 where the constructor
`RotationalScanMatcher(const std::vector<std::pair<Eigen::VectorXf, float>>& histograms_at_angles)`
will be removed and only the new constructor
`RotationalScanMatcher(const Eigen::VectorXf& histogram)`
will remain. The unit tests will be updated to use the new constructor in #1277.
Submap::ToProto now returns the proto.
This PR makes the interfaces for serialization more consistent: In `mapping_state_serialization.cc` all `ToProto` methods return the proto except Submap::ToProto.
* [GenericPoseGraph] Added relative pose cost 3d.
* Added another case to the test.
* Removed ceres function from cost function.
* Ran clang-format.
* Minor renaming.
Kevin Daun
gaschler
Julius Kammerl
Christoph Schütte
Alexander Belyaev
Juraj Oršulić
Martin Schwörer
Wolfgang Hess
Arno Fleck
Michael Grupp
Sebastian Klose
Martin Bokeloh
Susanne Pielawa
danielsievers