5b44305ea3
[ABSL] Purge common::make_unique. ( #1340 )
2018-07-27 19:43:35 +02:00
4990d4d5e9
[ABSL] Purge common::optional. ( #1339 )
2018-07-27 19:05:45 +02:00
dafb4149ed
Revert: Fix writing state of trajectories with unfinished submaps. #1286 ( #1346 )
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Reason: Break rviz visualization for submaps loaded from pbstreams.
2018-07-27 17:20:42 +02:00
3af5086dc7
removed redundant condition ( #1344 )
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Removes an additional condition that is not required.
2018-07-27 13:45:59 +02:00
8b329efc8e
Don't process PoseGraph2D work items in foreground. ( #1341 )
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This is #1285 for 2D.
Fixes #1250 .
2018-07-26 17:05:23 +02:00
c2c341397f
[GenericPoseGraph] Add InterpolatedRelativePose2D constraint. ( #1337 )
2018-07-26 15:00:13 +02:00
e87100a3ad
Introduce separate mutex for PoseGraph2D work queue access. ( #1333 )
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This is #1284 for 2D.
2018-07-26 11:15:56 +02:00
9a2df068ed
Check for collated_fixed_frame_ for AddSensorData(FixedFramePoseData). ( #1331 )
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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.
2018-07-26 10:36:17 +02:00
e3a7f39889
Add absl to CMake and Bazel builds. ( #1301 )
2018-07-26 06:49:37 +02:00
926b8540f6
Use CMake 3.2. ( #1332 )
2018-07-25 21:40:06 +02:00
f61a944938
Fine-grained locking for PoseGraph2D constraints. ( #1327 )
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This is #1279 for 2D.
2018-07-25 15:26:29 +02:00
4ba9d9168b
Migrate pbstream files with old probability grid format. ( #1314 )
2018-07-25 13:06:58 +02:00
52804df988
Remove warning at the beginning of localization. ( #1329 )
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* Remove warning.
* Remove warning from 2D as well.
2018-07-25 11:02:52 +02:00
2b042311d8
Unified pbstream tool ( #1326 )
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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
2018-07-24 15:48:34 +02:00
8219117a17
[GenericPoseGraph] Add serialization tests for constraints. ( #1318 )
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* [GenericPoseGraph] Add rotation 3d constraint.
* [GenericPoseGraph] Add serialization tests for constraints.
* Remove files from other branch
* Updated include paths.
2018-07-24 14:32:38 +02:00
f7b3d34ae5
[GenericPoseGraph] Add interpolated constraint/cost 3d. ( #1325 )
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* [GenericPoseGraph] Add interpolated rotation constraint/cost 3d.
* Rename tests
* Update include paths.
2018-07-24 13:24:11 +02:00
d4193d4a2a
[GenericPoseGraph] Add acceleration constraint. ( #1319 )
2018-07-24 06:36:24 +02:00
8250264441
Move test_helpers to testing/. ( #1321 )
2018-07-23 21:18:32 +02:00
a42fd47146
Preparation for #1277 : refactor rotation scan matcher ( #1316 )
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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 .
2018-07-23 19:02:17 +02:00
25f79cb6eb
Added metrics RealTimeRatio and CpuRealTimeRatio to 2d. ( #1324 )
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Added the metrics RealTimeRatio and CpuRealTimeRatio also to local_trajectory_builder_2d.
This is similar to[ PR 1275](https://github.com/googlecartographer/cartographer/pull/1275 ) and resolves a TODO.
2018-07-23 18:23:41 +02:00
fc78288ef8
remove duplicate code for deserialization of Submap3D from proto ( #1322 )
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This PR removes the duplicate code for deserialization/updating Submap3Ds from a proto.
2018-07-23 17:38:48 +02:00
33fcc1a3de
Set client_id in LoadState(FromFile) ( #1320 )
2018-07-23 16:42:44 +02:00
5b35641881
Small readability improvement ( #1304 )
2018-07-23 16:21:45 +02:00
29420b1912
[GenericPoseGraph] Remove unused declarations. ( #1323 )
2018-07-23 15:10:16 +02:00
bc8a7d7c00
[GenericPoseGraph] Add rotation 3d constraint. ( #1317 )
2018-07-23 13:43:26 +02:00
d306eaddda
Add pbstream_info executable ( #1311 )
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This is useful to debug and inspect serialized files.
2018-07-23 11:34:37 +02:00
681cff0435
[GenericPoseGraph] Add proto defs for landmark cost functions. ( #1312 )
2018-07-22 13:36:25 +02:00
3a9d1bc465
[GenericPoseGraph] Added rotation cost 3d. ( #1313 )
2018-07-20 17:45:41 +02:00
bb80d78293
[GenericPoseGraph] Add relative pose constraint 3d. ( #1309 )
2018-07-20 16:34:27 +02:00
f1ac896729
Return the proto from Submap::ToProto instead of passing pointer. ( #1294 )
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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.
2018-07-20 15:16:44 +02:00
2de0e5f04b
Don't process PoseGraph3D work items in foreground ( #1285 )
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This helps the foreground thread in keeping up real time.
Also see issue #1250 .
2018-07-20 14:41:57 +02:00
5077224f8e
Take PoseGraph2D mutex inside instead of outside work item. ( #1310 )
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This is #1264 for 2D.
2018-07-20 13:31:18 +02:00
665b95d5c6
[GenericPoseGraph] Add a loss function. ( #1308 )
2018-07-20 12:50:29 +02:00
1b455e57e5
[GenericPoseGraph] Use GradientChecker to check gradients (Ba-Dum-Tss). ( #1306 )
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Ba-Dum-Tss!
2018-07-20 10:55:05 +02:00
c473a65a5e
Move FindOrNull to common/utils.h. ( #1305 )
2018-07-20 10:07:45 +02:00
42d7133a2b
[GenericPoseGraph] Move ParseProto and Near to test_helpers.h ( #1307 )
2018-07-20 09:30:03 +02:00
7fa11dcde6
Implement recovery behavior for LocalTrajectoryUploader ( #1287 )
2018-07-20 00:09:44 +02:00
5911181849
Fix usage message of map_builder_server_main.cc ( #1302 )
2018-07-19 22:46:44 +02:00
5fdb705ea5
[GenericPoseGraph] Added relative pose cost 3d. ( #1303 )
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* [GenericPoseGraph] Added relative pose cost 3d.
* Added another case to the test.
* Removed ceres function from cost function.
* Ran clang-format.
* Minor renaming.
2018-07-19 16:35:27 +02:00
a60b3e2d2d
[GenericPoseGraph] Add CeresOptimizer. ( #1300 )
2018-07-19 12:41:14 +02:00
df337194e2
[GenericPoseGraph] Add RelativePoseConstraint2D. ( #1297 )
2018-07-19 09:17:22 +02:00
ce7f33f97a
Fix LoadState trajectory options access ( #1298 )
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FIXES=#1296
2018-07-18 17:08:00 +02:00
0ab591aa01
[GenericPoseGraph] Add RelativePoseCost2D. ( #1295 )
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This is the implementation of the ceres::CostFunction that uses the new proto definition. It is tested using the Autodiff version.
2018-07-18 15:58:33 +02:00
ce9c567e3c
No re-use of trajectory node proto in SerializeTrajectoryNodes ( #1293 )
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When serializing `TrajectoryNode`, the declared proto is currently re-used. This can lead to unexpected behavior, in particular when the serialization of the proto is performed in an external function.
This PR also relates PR #1277 where exactly that problem occurred in the SerializeSubmaps.
2018-07-18 12:22:00 +02:00
0668411d6f
Deflake destruction and test grpc SerializeState ( #1291 )
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This PR also removes various checks in ThreadPool which ensures that the ThreadPool task queue runs to completion before the destructor returns.
2018-07-18 10:18:08 +02:00
05a8314a23
Fix Clang warnings. ( #1292 )
2018-07-18 09:17:39 +02:00
89f0c45de8
[GenericPoseGraph] Add a NodeId struct. ( #1290 )
2018-07-17 17:40:49 +02:00
6c31420b97
Log status of failed RPCs in PoseGraphStub. ( #1288 )
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Log status of failed RPCs in PoseGraphStub.
This improves the usefulness of error messages in the log.
2018-07-17 13:38:37 +02:00
0ee06ba561
Fix writing state of trajectories with unfinished submaps. ( #1286 )
2018-07-17 08:39:50 +02:00
482f912d95
Introduce separate mutex for PoseGraph3D work queue access ( #1284 )
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Introduce separate mutex for PoseGraph3D work queue access.
This reduces lock contention, see issue #1250 .
In particular higher frequency call to AddWorkItem
don't need to take the main mutex from the froground
thread anymore.
2018-07-16 17:15:28 +02:00
Alexander Belyaev
Christoph Schütte
Martin Schwörer
Wolfgang Hess
Arno Fleck
Michael Grupp
Sebastian Klose
Martin Bokeloh
Susanne Pielawa
gaschler
Juraj Oršulić
danielsievers
Steve Wolter