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Author SHA1 Message Date
Alexander Belyaev 4aa2af23de Move files related to optimization to optimization/. (#1102) 2018-04-20 20:52:17 +02:00
Alexander Belyaev eebced5e16
Clean-up colliding 'SubmapData' names. (#1096) 2018-04-20 18:15:37 +02:00
gaschler 643bc825e9 ThreadPoolForTesting (#1098) 
Necessary to test ConstraintBuilder.
 2018-04-20 13:12:52 +02:00
Alexander Belyaev 8816d5710c
Invoke trimmer only when there are enough added submaps. (#1095) 2018-04-20 09:05:05 +02:00
Rodrigo Queiro 7f67f074a1 Limit `bazel test` parallelism more precisely (#1094) 
Since it is only the tests in cartographer/cloud that cannot run
concurrently with each other, use `tags = ["exclusive"]` to say that
they should not be run at the same time as other tests.

This works locally, not just in CI, and should speed up the CI job by
2-3 minutes.
 2018-04-19 18:51:20 +02:00
Alexander Belyaev ab7402ffbb Use references for constraints & nodes in TrimmingHandle. (#1091) 2018-04-19 17:09:16 +02:00
Kevin Daun 20c80068b2 Base ConstraintBuilder2D on correspondence cost function (#1088) 
- Base `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D` on correspondence cost function instead of probabilities
- No changes in the options of `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D`
- Add properties `min/max_correspondence_cost` to `Grid2D` and `proto::Grid2D`
- Provide backwards compatibility for `proto::Grid2D`
 - Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md)
 2018-04-19 11:59:28 +02:00
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
Christoph Schütte 337e594662 Introduce option to enable SSL encryption for LocalTrajectoryUploader (#1084) 2018-04-18 16:47:03 +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
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
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 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
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
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
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
Christoph Schütte 915ebb19a6
Use async_grpc (#1013) 
Use async_grpc
 2018-03-23 10:52:48 +01:00
Alexander Belyaev e48e21849a
Acquire mutex before copying landmark poses. (#1007) 2018-03-19 16:16:46 +01:00
Alexander Belyaev 4cc758e830
Serialize landmark observations. (#1006) 2018-03-19 15:12:47 +01:00
gaschler 7a7908ebb9 Test PureLocalizationTrimmer with actual pose graph (#1004) 2018-03-19 11:43:19 +01:00
gaschler b23ec8ce4e
Fix PureLocalizationTrimmer (#1002) 
Remove the wrong assumption that submap index is sequential from 0.
 2018-03-19 10:35:35 +01:00
Juraj Oršulić ee530d2423 Purge some additional jets (#1000) 2018-03-16 19:12:56 +01:00
Alexander Belyaev 1f9c78a82b
Remove float-to-jet casts where possible. (#998) 2018-03-16 14:53:10 +01:00
Alexander Belyaev 06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. (#997) 
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-03-16 12:01:55 +01:00
gaschler 37a68cd7f4 LocalTrajectoryBuilder uses RangeDataCollator (#996) 
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
FIXES=#910
 2018-03-15 16:34:51 +01:00
gaschler 55065a2108 Mockable optimization (#994) 2018-03-15 14:13:59 +01:00
gaschler bd7d7202bf Filter RangeMeasurement (#995) 
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-15 12:31:08 +01:00
gaschler 067d01a364 Test PoseGraph3D (#990) 2018-03-15 11:44:47 +01:00
gaschler ed47f9d8f8 OptimizationProblemInterface (#991) 
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
 2018-03-15 11:12:26 +01:00
Alexander Belyaev e6c4ee4b8b Move interpolation of poses to 'cost_helpers'. (#992) 2018-03-15 10:33:02 +01:00
Alexander Belyaev 1e4d558ac4
Add landmarks to the state and deserialize them. (#988) 2018-03-14 21:36:15 +01:00
gaschler 36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. (#945) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-03-14 14:51:40 +01:00
Alexander Belyaev 0190e7cd99 Clean-up dependencies of map_builder and put getters to the header. (#989) 2018-03-14 13:33:44 +01:00
Alexander Belyaev c060a15670
Remove dead code: fast_global_localizer. (#987) 2018-03-13 16:23:27 +01:00
Alexander Belyaev 4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. (#986) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 15:18:05 +01:00
Wolfgang Hess c09b643d8d Synchronize correctly in FinishTrajectory(). (#980) 
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
 2018-03-13 14:10:51 +01:00
Alexander Belyaev 525f7afe7e
Move sensor-related stuff to internal/. (#985) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-13 13:36:45 +01:00
gaschler 1187480fe6 Introduce RangeDataCollator (#975) 
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
 2018-03-13 11:08:01 +01:00
Alexander Belyaev 976736051c
Move scan matchers to internal/. (#983) 2018-03-13 10:21:27 +01:00
Alexander Belyaev 70c7660348
Move even more stuff to internal/. (#982) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 17:46:31 +01:00
Alexander Belyaev bfbf29dcd6
Move mapping/pose_graph/ to internal/. (#979) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 14:00:18 +01:00
Alexander Belyaev 418e0964bf
Move pose_graph_*d related files to internal/. (#976) 
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2018-03-12 12:42:52 +01:00
Juraj Oršulić 091a4f852d Update descriptions in pose_graph.h (#977) 
Remove "frozen", since deserialized trajectories can be unfrozen since #891.
 2018-03-10 23:50:31 +01:00
Alexander Belyaev 2fe1867221
Fix writing the pbstream via gRPC. (#973) 2018-03-09 16:26:03 +01:00
Alexander Belyaev daa35d3bc8
Move in_memory_proto_stream.* to internal. (#969) 
Internal Headers RFC
 2018-03-09 15:24:07 +01:00
Alexander Belyaev bb4ba8b319
Split local_slam_result_data.h into base and 2d/3d parts. (#967) 2018-03-08 15:17:31 +01:00
Alexander Belyaev b29986f297
Remove the pointers to the derived PoseGraph*D classes from map_builder. (#966) 2018-03-08 14:49:41 +01:00
Alexander Belyaev 20a980aade
Remove 'pose_graph_*d.h' from local_slam_result_data.h. (#965) 2018-03-08 13:09:43 +01:00
Alexander Belyaev 256b5a6ff0
Remove '2d/probability_grid.h' include from 'submaps.h'. (#964) 2018-03-08 11:56:42 +01:00
Kevin Daun 82a491181d Add IsTrajectoryFrozen to PoseGraph (#962) 
Adds IsTrajectoryFrozen to the PoseGraph interface
 2018-03-08 11:18:08 +01:00
Alexander Belyaev f34df22a24
Update header guards. (#959) 2018-03-05 14:55:51 +01:00
Alexander Belyaev cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. (#960) 2018-03-05 14:09:04 +01:00
Alexander Belyaev f76d8a8a0d
Move cartographer_grpc/ to cartographer/cloud. (#958) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-03-05 12:41:38 +01:00
gaschler a2219cb2fc
Correct comment (#948) 2018-03-02 10:25:23 +01:00
gaschler 0156e6b8ce Instrument metrics in local trajectory builders. (#946) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-28 16:32:40 +01:00
gaschler df1ee4bb29 Fix metric label. (#944) 
This makes metrics_test in debug mode happy.
 2018-02-28 14:46:26 +01:00
gaschler 363a337e67 Re-implement VoxelFilter with unordered_set (#938) 
Use hashing to filter voxels.
Handles arbitrary grid coordinates up to sizeof(int).

FIXES=#937
 2018-02-28 11:12:18 +01:00
Juraj Oršulić 32b8bd3581 Enable loading unfrozen state (#891) 
Enable loading unfrozen state
 2018-02-27 20:38:57 +01:00
Alexander Belyaev 29875117b3
Move internal/mapping to mapping/internal. (#941) 2018-02-27 16:25:53 +01:00
gaschler 63fd497e0f Document HybridGrid limits. (#939) 
Adds documentation to avoid issue #937.
 2018-02-27 15:28:35 +01:00
gaschler f606d4b91c Gracefully handle time-overlapping point clouds. (#936) 
Per-point relative times are usually computed by multiplying
a per-point time increment by the number of points.
So it is not uncommon for consecutive point clouds of a single
sensor to overlap in time.
When this happens, we act as if no backward jump in time happened
and warn once per input point cloud.

FIXES=#912
 2018-02-26 18:38:00 +01:00
Alexander Belyaev 3ebfa757ef
Move mapping_*d to mapping/*d. (#935) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 17:40:29 +01:00
Alexander Belyaev e75e023ce2
Purge 'mapping_3d::'. (#927) (#928) 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-02-26 14:26:41 +01:00
danielsievers 258aa715ba Move GetTrajectoryData() down to PoseGraphInterface (#932) 2018-02-26 12:45:53 +01:00
Michael Grupp 90994464a5 Check ifstream::good() in proto_stream.cc (#929) 
Check for basic stream errors before doing more involved read actions.
The log message in this case is also more descriptive than
`Check failed: reader->ReadProto(&pose_graph)`.
 2018-02-22 16:21:15 +01:00
Alexander Belyaev 94fce13f62
Purge 'mapping_2d::'. (#927) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 19:44:53 +01:00
gaschler 30114e364a Instrument metrics in constraint builders. (#921) 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-21 17:31:11 +01:00
gaschler 2711f4492f Test PoseExtrapolator (#926) 2018-02-21 16:43:58 +01:00
Alexander Belyaev 7d13383dec
Remove 'mapping_3d' namespace. (#922) (#925) 
Remove 'mapping_3d' namespace. (#922)

It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_3d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 14:24:12 +01:00
Alexander Belyaev f8dc89d8ff
Remove 'mapping_2d' namespace. (#922) 
It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 12:41:14 +01:00
Alexander Belyaev 96d5e2819c
Move implementation of ProbabilityGrid to .cc file. (#924) 2018-02-21 09:55:40 +01:00
gaschler ab05459f1c Move GlobalTrajectoryBuilder to cc file (#923) 
* Move GlobalTrajectoryBuilder to cc file.

This allows to instrument file-level static metrics.
Also, it is a cleaner interface.

* two create functions

* drop superfluous typename
 2018-02-21 08:53:09 +01:00
Alexander Belyaev a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. (#918) 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-20 15:28:21 +01:00
Alexander Belyaev 43544f0fbc
Rename mapping_2d::PoseGraph to mapping::PoseGraph2D. (#917) 
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-19 20:01:29 +01:00
danielsievers c38bb60407 (De)serialize trajectory data from the optimization problem (#915) 
* Write/Read the trajectory data (gravity, imu calibration, and fixed frame origin) into the serialized state proto
 2018-02-19 16:30:32 +01:00
gaschler 64bc194609 Introduce interfaces for metrics (#907) 
Adds interfaces for metrics and metrics families.
Adds creation of null (noop) metrics.
Declares global register function.

RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-19 14:02:54 +01:00
Juraj Oršulić fb631ac9e6 Landmark improvements (#901) 2018-02-14 15:39:43 +01:00
gaschler cf01184114 Fix leak in LandmarkCostFunctionTest. (#902) 2018-02-14 12:38:01 +01:00
gaschler 9793542957 Add 3D global SLAM grpc test. (#904) 2018-02-14 12:04:52 +01:00
gaschler 244cf615f5 Make clang compile without warnings. (#903) 
Rule out accidental usage of integer-only ::abs.
Correct static, override and protected annotations.
 2018-02-14 11:06:46 +01:00
gaschler b2581b0d58 Make comparison operator const. (#898) 2018-02-13 13:03:26 +01:00
gaschler 7448f93b50 Avoid auto for Eigen expressions. (#899) 
While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
 2018-02-13 12:34:43 +01:00
Alexander Belyaev ac79f0c034
Save landmark poses after optimization run. (#896) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-12 13:15:16 +01:00
Alexander Belyaev b72bbb20c3
Fix the size of residuals, add test for jacobians. (#895) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-09 13:13:17 +01:00
Alexander Belyaev 95dbcfdf9e Serialize landmarks. (#889) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-07 10:47:39 +01:00
Alexander Belyaev 58bc1ced68
Implement GetLandmarkPoses method. (#888) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-06 18:13:31 +01:00
Alexander Belyaev 28993a8963
Use landmarks in optimization (both 2D & 3D). (#884) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-05 13:23:00 +01:00
Juraj Oršulić 9bebeea742 Serialize and deserialize trajectory builder options (#859) 2018-02-05 09:45:43 +01:00
Holger Rapp c212bbb698 Hand through intensities into the generated PLY - if they exist. (#885) 2018-02-02 18:29:18 +01:00
gaschler 9eaf960936 Configure remaining tests in bazel (#879) 2018-02-01 21:58:59 +01:00
Alexander Belyaev eed51b8bb6 Cleaning up dependencies for constraint builder & optimization problem. (#877) 2018-02-01 20:59:22 +01:00
Alexander Belyaev 8ea46857ac
Move cerec_pose.* to mapping/pose_graph. (#874) 2018-02-01 15:16:50 +01:00
Alexander Belyaev d195c77ebc
Add a 2D landmark cost function. (#868) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-01 13:39:24 +01:00
Christoph Schütte 60e9fa59fe
Implement AddImuDataHandlerTest (#872) 
This PR introduces first gRPC handler test that takes advantage of new RpcHandlerTestServer.
 2018-02-01 13:05:08 +01:00
Alexander Belyaev e735203a05
Extend MapById::lower_bound() to support structs with 'time' field. (#871) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-02-01 11:58:13 +01:00
Alexander Belyaev ab890a8e15
Move 3D landmark cost function to mapping_3d/. (#870) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 18:40:10 +01:00
Alexander Belyaev 0440761474
Move slerp and scaling of error to 'cost_helpers'. (#864) 
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
 2018-01-31 17:06:49 +01:00
Rodrigo Queiro ad4dc3c4d3 Bazel: build with -Wno-sign-compare (#863) 
This avoids warnings for code like:

```
  CHECK_EQ(local_to_cloud_trajectory_id_map_.count(local_trajectory_id), 0);
```
 2018-01-31 15:19:36 +01:00
Alexander Belyaev 708e7fc57d
Add a 'cost_helpers' library. (#862) 
* Add a 'cost_helpers' library.

* Change naming and add comments.
 2018-01-30 22:12:25 +01:00
Alexander Belyaev 93568641f9
Implement LandmarkCostFunction 3D. (#860) 2018-01-30 15:18:13 +01:00
Alexander Belyaev 8316444319
Store landmark observations as LandmarkNodes in PoseGraph. (#850) 2018-01-29 10:17:05 +01:00
gaschler dab69e0ca0 Struct SensorId (#839) 
* WIP, started unordered_set<SensorId>

* struct SensorId. Works for cartographer without grpc.

* correct test

* SensorId in cartographer_grpc/

* clean up

* try to fix for trusty

* SensorId::operator==

* Ran clang-format.
 2018-01-26 15:07:49 +01:00
Christoph Schütte edb18231b6 Add ProtoStreamWriterInterface and implement forwarding writer. (#849) 2018-01-25 15:27:50 +01:00
Alexander Belyaev 894bad397d
Rename Landmark->LandmarkObservation. (#847) 2018-01-25 12:10:30 +01:00
Alexander Belyaev aee1bc46dc
Introduce InMemoryProtoStreamReader. (#844) 
* Introduce InMemoryProtoStreamReader.

* Move inmemory*.* to in_memory*.*.
 2018-01-24 13:58:15 +01:00
Alexander Belyaev 43008d391d
Introduce a ProtoStreamReaderInterface. (#837) 
* Introduce a ProtoStreamReaderInterface.

* Remove the comments from interface def.
 2018-01-23 09:09:37 +01:00
Alexander Belyaev 986ac28ff8
Rename 'tranform' to 'landmark_to_tracking_transform'. (#836) 2018-01-22 18:30:14 +01:00
Alexander Belyaev 6d4649857a
Move implementation of ReadProto/WriteProto to .cc (#835) 2018-01-22 17:53:31 +01:00
Rodrigo Queiro 0c227097e7 Add a Bazel build for cartographer (#834) 
This does not include cartographer_grpc, nor any of the binaries
(*_main.cc). It has been tested with Bazel 0.9.0 on Ubuntu 14.04 with
the latest (at time of writing) dazel/dazel container, by running:

```
bazel build //...
bazel test //...
```

While this is a large CL, the files under third_party are not new - they have been through internal review, and this is their open-source release. The other files come to 212 lines of code.
 2018-01-22 16:47:07 +01:00
Alexander Belyaev 67850d25a0 Replace templates in io/proto_stream.h with upcasting. (#833) 2018-01-22 14:12:14 +01:00
Alexander Belyaev 746c9c83c8
Propagate LandmarksData to the PoseGraph. (#830) 
Propagate LandmarkData to the PoseGraph.
 2018-01-19 09:41:24 +01:00
gaschler de5937856d Collate_by_trajectory option (#828) 
Adds an option to create a MapBuilder using TrajectoryCollator
(instead of Collator).

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-17 21:15:15 +01:00
gaschler d92040d0e6 Test Collator for multiple trajectories (#829) 2018-01-17 20:43:20 +01:00
gaschler 70e378b7c5 TrajectoryCollator (#827) 
Introduces TrajectorCollator, which collates sensor data ignoring
other trajectories.
Tests the same.

[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-17 17:48:20 +01:00
Wolfgang Hess ffdbf1c161 Fix debug output for 3D loop closure error. (#826) 
PAIR=spielawa
 2018-01-17 13:09:48 +01:00
gaschler f64eef876a Optional GetBlockingTrajectoryId (#820) 
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-16 16:21:22 +01:00
Alexander Belyaev 53c2a6b58f
Move 'finished' getter to the base class. (#803) 
* Move 'finished' getter to the base class.

* Ran clang-format.

* Ran clang-format.
 2018-01-16 14:20:33 +01:00
Christoph Schütte 31ec89614c Add parameter to Submap::ToProto() to determine whether to include loop (#821) 2018-01-16 11:23:29 +01:00
Christoph Schütte 3660408ae6 Forward declare unique_ptr<LocalSlamResultData> (#824) 2018-01-16 10:20:51 +01:00
gaschler 057bd8ce6a Public SpaCostFunction::Compute* (#814) 2018-01-12 21:46:47 +01:00
Wolfgang Hess 19ff047a79 Allow FixedRatioSampler to drop all data. (#817) 
This is useful to disable loop closure by setting
constraint_builder.sampling_ratio = 0.
 2018-01-12 18:54:41 +01:00
Christoph Schütte 1de696d45f Introduce PoseGraphInterface::ToProto() (#813) 2018-01-12 13:55:14 +01:00
Christoph Schütte fee77c8a99 Add LocalSlamResultData retrieval and submap management (#810) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2018-01-12 13:00:25 +01:00
gaschler 51ccee3e74 CollatorInterface (#808) 
[RFC=0008](https://github.com/googlecartographer/rfcs/blob/master/text/0008-collator-interface.md)
 2018-01-11 16:02:03 +01:00
Christoph Schütte 8fc64fdbb5 Wrap HybridGrid in unique_ptr to make Submap updatable (#809) 2018-01-11 14:34:56 +01:00
Christoph Schütte e1a182d1fa Implement LocalSlamResult data adding to PoseGraph. (#804) 2018-01-11 10:19:37 +01:00
Christoph Schütte d313af8674
Add InsertionResult to LocalSlamResult. (#801) 2018-01-10 17:26:04 +01:00
Susanne Pielawa c7a8c5fda9 Keep fixed frame across optimizations. (#807) 
PAIR=wohe
 2018-01-10 16:01:27 +01:00
Susanne Pielawa 286d16238e In optimization_problem, use a map instead of vector for trajectory data. (#805) 
PAIR=wohe
 2018-01-10 14:30:51 +01:00
Susanne Pielawa 67d26747cc Implement assignment operator for common::optional. (#800) 
Implement assignment operator for common::optional.
 2018-01-09 17:54:53 +01:00
Christoph Schütte 8c7c4e3d2a Make LocalTrajectoryBuilder optional. (#799) 
This is to prepare for the cloud-based mapping case where the robot is running cartographer in pure-localization mode and the cloud instance only solves the global problem. In that case a `LocalTrajectoryBuilder` need to be instantiated in for the cloud instance.
 2018-01-09 16:54:30 +01:00
Christoph Schütte 8165da873f Add GetConstraints() to gRPC service. (#798) 2018-01-09 14:25:28 +01:00
Christoph Schütte 78d05bf745 Add GetTrajectoryNodePoses() to gRPC service (#796) 2018-01-08 14:19:39 +01:00
Christoph Schütte d57c2441b8 Implement gRPC submap query. (#794) 2018-01-08 13:52:14 +01:00
Susanne Pielawa 91034eaf58 Making pose in FixedFramePoseData optional. (#792) 
This is for the case that the GPS signal is not available.
 2018-01-08 11:37:07 +01:00
Christoph Schütte 196b4b891c Add PoseGraphInterface::GetTrajectoryNodePoses() (#795) 2018-01-08 09:13:51 +01:00
Christoph Schütte 1a837ef3ab Introduce PoseGraphInterface::GetAllSubmapPoses() (#790) 2018-01-05 14:19:08 +01:00
Susanne Pielawa 63a80c9340 Adding a minimal implementation of std::optional. (#783) 
We're using C++11, which doesn't have std::optional. We need a few
features of std::optional for improved GPS support. These are
implemented here.
 2018-01-05 11:27:21 +01:00
Juraj Oršulić 58d94aaa68 Refactor calling optimization into DispatchOptimization. (#729) 
I noticed that @jihoonl opened the PR #726 which performs a similar thing. As discussed in googlecartographer/cartographer_ros#613 (@cschuet  has already taken a look), I pulled this out of #481 (a really old PR whose merging has been postponed), which is an example where re-running optimization is triggered from elsewhere as well (besides from `ComputeConstraintsForNode`). This refactoring makes libcartographer friendlier for use cases such as that one.

An important detail is that I have changed the condition in `WaitForAllComputations` to also check if the work queue is empty. If there are other things on the worker queue besides `ComputeConstraintsForNode`, currently we will wrongfully conclude that all computations are done. (This detail was merged in #754, so it's no longer in the diff of this PR).

Also missing is the same thing for 3D. I can add that when we settle on this.

Also, I suggest that `run_loop_closure` gets renamed to `run_optimization`.
 2018-01-05 10:43:56 +01:00
Jihoon Lee 2ad83662f2 Migrate SubmapTexture and SubmapSlice logics from cartographer_ros (#782) 
Towards [RFC06](https://github.com/googlecartographer/rfcs/blob/master/text/0006-serve-ros-map-from-pbstream.md).

Migrates
* `FillSubmapSlice` from `pbstream_to_rosmap_main.cc` 
* `SubmapTexture` logics from cartographer_ros
 2018-01-04 10:52:05 +01:00
Juraj Oršulić 9ee65293d2 Pose graph: do not mark all submaps finished when finalizing a trajectory. (#784) 
I think this was a mistake in #563 (@jihoonl). Not all submaps should be marked as finished, only those pertaining to the trajectory being finalized.
 2018-01-04 10:11:28 +01:00
gaschler dbb3f7cde4 Test TrajectoryBuilderStub (#780) 2018-01-03 14:56:56 +01:00
Christoph Schütte 5b5b290e9f Implement BlockingQueue::WaitUntilEmpty(). (#775) 
PAIR=gaschler
 2017-12-20 10:22:53 +01:00
Christoph Schütte 02734c296d Implement ReceiveLocalSlamResultsHandler. (#772) 2017-12-19 15:11:29 +01:00
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer (#766) 2017-12-18 16:32:34 +01:00
gaschler c6decd5b7b Test MapBuilderServer (#762) 
Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
 2017-12-18 11:52:17 +01:00
gaschler d49706944f FixedFramePoseData in gRPC server (#761) 
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
 2017-12-15 15:26:58 +01:00
gaschler 6817d22788 Test global 2D SLAM. (#751) 2017-12-15 14:45:56 +01:00
Juraj Oršulić 29e4395a5a Make WaitForAllComputation wait for work queue in 3D as well (#758) 
Repeat the change in #754 by @gaschler for 3D as well.
 2017-12-14 10:02:54 +01:00
gaschler f8452821d7 WaitForAllComputation waits for work queue (#754) 2017-12-13 18:49:22 +01:00
gaschler 59d1b968bc Unwarp by point in LocalTrajectoryBuilder. (#636) 2017-12-13 18:29:42 +01:00
Christoph Schütte c5ec086968 Introduce TimedPointCloudData. (#748) 
This data structure is needed to forward RangeFinderData over gRPC.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-08 19:28:47 +01:00
Christoph Schütte 3ae78563c6 Introduce TrajectoryBuilderInterface. (#736) 
[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md)
 2017-12-08 11:52:29 +01:00
Christoph Schütte 96cdbde5bf Introduce PoseGraphInterface. (#744) 
[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md)
 2017-12-08 11:13:48 +01:00
gaschler 549eef0000 Correct namespace (#742) 2017-12-07 21:17:30 +01:00
Michael Grupp 176fc42c3f Remove empty leftover of pose_estimate.h (#740) 
Follow-up of #670.
 2017-12-07 08:53:04 +01:00
Christoph Schütte 2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. (#738) 
This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
 2017-12-06 16:36:36 +01:00
gaschler 4c999037b4 Integration tests for local slam. (#734) 2017-12-06 15:58:16 +01:00
gaschler 49d55d97c1 Test MapBuilder (#731) 2017-12-05 14:04:10 +01:00
gaschler b77a1f2178
Remove implementation from TrajectoryBuilder. (#728) 
To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
 2017-12-05 11:05:05 +01:00
gaschler ee9c61a736 Move LocalSlamResultCallback to AddTrajectory (#724) 2017-12-04 22:41:38 +01:00
gaschler 1ff8243802
Test RotationDeltaCostFunctor (#721) 2017-12-01 09:25:15 +01:00
gaschler 63e901d276
Create AutoDiffCostFunction in cost functions. (#718) 
Creating a ceres::AutoDiffCostFunction requires specifying numbers
of residuals and variables, so it is safer to implement this within
the cost functions, which know best.
 2017-11-30 15:41:57 +01:00
gaschler 85bfb888eb
Interface for MapBuilder (#715) 
Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-30 14:41:48 +01:00
gaschler 24f253a2aa Remove GetBlockingTrajectoryId (#714) 2017-11-30 12:04:14 +01:00
Jihoon Lee 88805a301d Trim all submaps when pure localization trajectory is finished. (#563) 
Fixes #560 
based on #562
 2017-11-28 10:21:55 +01:00
Juraj Oršulić bebe021b04 Serialize fixed frame pose data. (#689) 
Similar to #666 and #548.
 2017-11-28 09:44:35 +01:00
gaschler 1c7183d5c4 VoxelFilter for TimedPointCloud, Filter method. (#710) 
This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
 2017-11-27 15:12:07 +01:00
gaschler c292d76f86 Test ImuTracker (#711) 
Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
 2017-11-27 14:46:32 +01:00
Wolfgang Hess 7e82ac3bbf Make IMU cost functions internal. (#708) 
[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
 2017-11-24 15:29:48 +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