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45 Commits (771336b3c9372ccf1fb539323f54910acfd15f4f)

Author SHA1 Message Date
Michael Grupp 4351bdb3c8 Separate global optimization constraints for local SLAM and odometry (#1029) 
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
Michael Grupp 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
Michael Grupp 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
Christoph Schütte f1616e16ec Introduce bazel docker file (#838) 2018-01-23 10:50:51 +01:00
Wolfgang Hess 79b83b92b2 Make the MotionFilter internal. (#707) 
Also moves it from mapping_3d to mapping since it is used
in both 2D and 3D SLAM.

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 14:01:07 +01:00
Wolfgang Hess 055728af93 Rename options for consistency. (#686) 
"scan" is better named "node" if it refers to a node in global SLAM.

"penalty factor" is renamed "weight" for consistency with other similar options.

"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
 2017-11-17 10:52:22 +01:00
Wolfgang Hess 16d62f45f0 Rename sparse_pose_graph options. (#682) 
The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-16 11:48:25 +01:00
Wolfgang Hess c866707013 Fix the configuration documentation script. (#679) 
Fixes #652.
Now also includes documentation for one option that was "repeated"
and not "optional".
 2017-11-15 14:17:33 +01:00
Holger Rapp e29fc9787a New proto compiler (#644) 
Also change Dockerfiles to build proto3 from HEAD.

PAIR=@cschuet
 2017-11-10 11:16:44 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. (#624) 2017-11-03 13:44:23 +01:00
Damon Kohler 0cd0148577 Update the high level overview and provide a link to a copyable Google Sketch. (#607) 2017-10-20 14:56:29 +02:00
Wolfgang Hess bcd1be92b1 Adds a bit of terminology documentation. (#591) 
Changes code to match the new documentation.
 2017-10-17 10:07:54 +02:00
jie 4fca78368d Add Cartographer high level structure diagram to documentation (#486) 2017-09-28 08:27:27 +02:00
Wolfgang Hess a7fe8bd2ab Add filtered point cloud to TrajectoryNode::Data for 2D. (#483) 2017-08-28 11:17:53 +02:00
Christoph Schütte 96b71e227f Add histograms for pose residuals (#478) 
* WIP Add histograms for pose residuals

* Address reviewers comments

* Address more comments.
 2017-08-25 11:39:56 +02:00
jie 2fd2e86351 Add fixed frame pose weight into optimization problem options. (#477) 2017-08-24 15:40:48 +02:00
Wolfgang Hess 4d11a226ff Expose low resolution matching scores. (#470) 
This is needed in preparation of adding a low resolution score histogram.
 2017-08-23 17:48:49 +02:00
zjwoody 2e53586818 Also check low resolution match for 3D loop closure. (#468) 
Related to #369.
 2017-08-22 17:29:20 +02:00
zjwoody ac693f3e04 Use separate voxel filter options for 3D loop closure. (#465) 2017-08-21 18:01:23 +02:00
Wolfgang Hess 11dbdf91b9 Remove unused code and option for odometry states. (#451) 2017-08-11 17:38:48 +02:00
Holger Rapp 3346474963 Grow the ProbabilityGrid as needed instead of preconfiguring its size. (#387) 
This removes the 'half_length' option.

PAIR=wohe
 2017-07-05 14:17:04 +02:00
Wolfgang Hess 54bd81a78b Remove UKF related code and configuration. (#378) 2017-06-30 13:19:13 +02:00
Damon Kohler f765e55ea9 Use multi-res scan matching for loop closures too. (#374) 
Improves loop closure scan matcher refinement.
 2017-06-30 09:30:09 +02:00
Wolfgang Hess f88fcec851 Remove the unused OptimizingLocalTrajectoryBuilder. (#368) 
It has not been used for a long time and has to be replaced by
a better implementation.
 2017-06-27 15:44:46 +02:00
Wolfgang Hess 2df8bcde61 Remove unused 'imu_gravity_variance' option. (#363) 2017-06-26 13:23:58 +02:00
Holger Rapp ff37b0bb7d Remove output_debug_images. (#358) 
This is now better done by RViz. This also gets rid of the dependency on webp.
 2017-06-23 14:53:04 +02:00
Wolfgang Hess 92f154f561 Also use fixed covariances in 3D SLAM. (#308) 
This follows #307.
 2017-06-01 15:04:07 +02:00
Wolfgang Hess 79dc1f848f Remove 'laser' references from parameter names. (#259) 
Related to #250.
 2017-05-04 15:38:41 +02:00
Wolfgang Hess 4fa190d316 Rename LaserFan to RangeData. (#224) 
LaserFan is misleading since range data can come from
various sensor types.
 2017-03-23 14:56:18 +01:00
Wolfgang Hess b2175f0d93 Remove covariance from the 3D Ceres scan matcher. (#200) 
Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
 2017-02-08 15:22:28 +01:00
Wolfgang Hess 1f27268664 Add resolution of option types to the documentation script. (#180) 2017-01-10 12:23:10 +01:00
Wolfgang Hess 1c433e6f3a Refactor the documentation update script. (#179) 2017-01-10 10:43:16 +01:00
Wolfgang Hess cd0ebbf536 Add the configuration doc and an update script. (#172) 2016-12-21 16:21:43 +01:00
Damon Kohler 78747eda62 Fix documentation and Docker cache. (#157) 2016-12-09 13:08:43 +01:00
Damon Kohler f6c9f9565f Adds system requirements label. (#46) 2016-10-12 12:52:26 +02:00
Damon Kohler 1b7eb7fad7 Improves documentation. (#44) 
* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
 2016-10-11 16:09:55 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. (#32) 2016-10-05 17:27:08 +02:00
Wolfgang Hess 175e9e4aab Add reference to the paper to the documentation. (#20) 2016-09-01 11:46:17 +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 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
Damon Kohler 9134a8967d Moves the bulk of our documentation to Sphinx. (#11) 2016-08-25 15:39:51 +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