Commit Graph

1145 Commits (81d34ef18548bb35d0e1c1c4832d3f3e6031603b)

Author SHA1 Message Date
Kevin Daun f4937b5cc6 Base ceres scan matcher on correspondence cost function (#1085)
- Base ceres scan matcher on correspondence cost function instead of probabilities
 - Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)
2018-04-19 10:24:16 +02:00
Rodrigo Queiro 9b3606b7c0 Fix glog warning (#1082)
by updating to a version that properly enables __attribute__. This is
the last warning in the Bazel build.
2018-04-18 21:04:11 +02:00
Christoph Schütte 337e594662 Introduce option to enable SSL encryption for LocalTrajectoryUploader (#1084) 2018-04-18 16:47:03 +02:00
Rodrigo Queiro 3383643627 Add configuration for Bazel CI (#1083)
This builds and tests on Ubuntu 16.
2018-04-18 15:43:39 +02:00
Kevin Daun 03d56871c1 Correspondence cost based probability grid (#1081)
- Store probabilities as correspondence costs
- Add conversion functions for correspondence cost values
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)
2018-04-18 14:46:38 +02:00
Christoph Schütte 214606457c Switch to batch uploading for cloud based mapping and add retries (#1070) 2018-04-18 14:02:43 +02:00
Alexander Belyaev 23f6de46b0 Use area instead of cells count for overlapping trimmer options. (#1080) 2018-04-17 18:22:38 +02:00
Julius Kammerl 26e8ce63ba Add async_grpc dependency to cartographer_grpc (#1079)
The map_builder_server target requires async_grpc.
2018-04-17 17:25:18 +02:00
gaschler 4278dbb7ea Speed up slow tests (#1077)
Same checks, half the time.
2018-04-17 15:41:09 +02:00
Kevin Daun ed0a8846f1 Allow execution of Submap2D::ToResponseProto without a grid (#1078)
- related to https://github.com/googlecartographer/cartographer_ros/issues/819
2018-04-17 14:27:09 +02:00
Alexander Belyaev 74970be757
Add overlapping trimmer params to TrajectoryBuilderOptions. (#1076) 2018-04-17 13:00:04 +02:00
Alexander Belyaev e215c170e7 Remove redundant function declaration. (#1075)
Makes clang happy again.
2018-04-17 10:22:00 +02:00
Christoph Schütte 2be3c1f636 Add sparse Eigen support to Bazel build. (#1074) 2018-04-17 09:46:51 +02:00
Kevin Daun 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
Rodrigo Queiro c20f22e986 Suppress warnings for Bazel third_party deps (#1054)
These warnings occur when building with gcc 7.3.0.
2018-04-16 17:48:18 +02:00
Rodrigo Queiro 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
Christoph Schütte ce71273737 Add error messages for gRPC connection failures (#1072)
Fixes https://github.com/googlecartographer/cartographer_ros/issues/825.
2018-04-16 16:40:03 +02:00
Alexander Belyaev 7b68844937
Add a gRPC version of SetLandmarkPose(). (#1068) 2018-04-16 15:49:08 +02:00
Alexander Belyaev 75f899117a Move to testing/. (#1067) 2018-04-16 12:47:11 +02:00
gaschler 663e135426 add check (#1063) 2018-04-16 12:01:09 +02:00
Alexander Belyaev 74f74c4b61 Deserialize landmark poses. (#1064) 2018-04-13 16:38:45 +02:00
Kevin Daun 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
Christoph Schütte b4c4ae6ea9 Update unfinished submap list on SLAM thread (#1061)
Fixes #1052
2018-04-13 12:15:26 +02:00
Michael Grupp b5e5477f75 Fix Sphinx build warning. (#1055)
Removes 'WARNING: html_static_path entry [...] does not exist'.
2018-04-12 16:33:38 +02:00
Michael Grupp 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
Christoph Schütte 14465aa23e Refactor MapBuilderContext to reduce code duplication. (#1059) 2018-04-12 15:27:24 +02:00
Alexander Belyaev a4346337bc
Address the comments for the overlapping submaps trimmer. (#1060) 2018-04-12 14:28:33 +02:00
Christoph Schütte f83d0a6ed6 Implement IsTrajectory{Finished,Frozen} in cloud mapping (#1057) 2018-04-12 12:37:04 +02:00
Alexander Belyaev 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
gaschler e2966ca156 Do not install gmock (#1047)
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
Alexander Belyaev 7286415e27 Remove unused variable. (#1049) 2018-04-11 13:15:09 +02:00
jie d1161b5f8e Internal cleanup (#1051)
Fix lint errors.
2018-04-11 09:56:22 +02:00
Alexander Belyaev 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
gaschler 895f1d61b4 Glob only files in cartographer/ (#1048)
FIXES=#1044
2018-04-10 15:14:59 +02:00
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
jie cf358e7640 Internal cleanup (#1045)
Clean up the lint errors.
2018-04-10 09:43:36 +02:00
jie 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
gaschler e89625d36a Correctly use PrecomputationGridStack for 2D and 3D (#1040)
FIXES=#1038
2018-04-09 14:29:45 +02:00
Alexander Belyaev b1dcb0cc5e Remove unused 'freeze_landmarks_' field. (#1039) 2018-04-05 18:40:48 +02:00
gaschler e26e9f172b RangeDataCollator handles empty range data. (#1036)
FIXES=#1019
2018-04-04 15:20:10 +02:00
Alexander Belyaev 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
Alexander Belyaev 41fc7e38cc Rename the setters according to style-guide. (#1032)
just a nit
2018-04-03 18:56:44 +02:00
Christoph Schütte e8b0bfb285 Add last open house slides. (#1028) 2018-04-03 09:24:18 +02:00
Alexander Belyaev 8c6c584524
Allow trimmers fetch submap data. (#1024) 2018-03-28 12:07:28 +02:00
Alexander Belyaev 962393074a New fixes for Jets. (#1023)
Issue #1015
2018-03-27 14:26:21 +02:00
gaschler 94f564d871
Test trimming within trajectory (#1020) 2018-03-27 12:50:35 +02:00
Alexander Belyaev e0e1c081e7
Do not use operator*= with Jets. (#1018) 2018-03-26 15:55:50 +02:00
Juraj Oršulić 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
Christoph Schütte 915ebb19a6
Use async_grpc (#1013)
Use async_grpc
2018-03-23 10:52:48 +01:00
Christoph Schütte ab1c99ab34 Update next Cartographer Open House date. (#1008) 2018-03-20 14:34:15 +01:00