Commit Graph

673 Commits (a338b2e3391989ba0677ed116746af3fe8c056e6)

Author SHA1 Message Date
gaschler a338b2e339 Collect metrics with Prometheus C++ Client ()
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
2018-02-19 18:11:59 +01:00
danielsievers c38bb60407 (De)serialize trajectory data from the optimization problem ()
* 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 3211e75957
Link prometheus client for grpc builds ()
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
2018-02-19 15:54:10 +01:00
gaschler 64bc194609 Introduce interfaces for metrics ()
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
gaschler 8e27db0f0e Link prometheus client for bazel grpc build ()
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
2018-02-19 11:44:23 +01:00
gaschler 880b5c973b Update README.rst () 2018-02-19 11:08:00 +01:00
Juraj Oršulić fb631ac9e6 Landmark improvements () 2018-02-14 15:39:43 +01:00
gaschler cf01184114 Fix leak in LandmarkCostFunctionTest. () 2018-02-14 12:38:01 +01:00
gaschler 9793542957 Add 3D global SLAM grpc test. () 2018-02-14 12:04:52 +01:00
gaschler 244cf615f5 Make clang compile without warnings. ()
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. () 2018-02-13 13:03:26 +01:00
gaschler 7448f93b50 Avoid auto for Eigen expressions. ()
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
Christoph Schütte 2a74484be1 Add slides from yesterday () 2018-02-13 10:17:45 +01:00
Alexander Belyaev ac79f0c034
Save landmark poses after optimization run. ()
[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. ()
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-02-09 13:13:17 +01:00
Christoph Schütte ba113e4e05 Add slides from 180125. () 2018-02-08 10:06:27 +01:00
Christoph Schütte 39f140da66 Follow googlecartographer/cartographer#859 () 2018-02-07 16:35:44 +01:00
Alexander Belyaev 95dbcfdf9e Serialize landmarks. ()
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-02-07 10:47:39 +01:00
Alexander Belyaev 7762087edf Fix some styling issues. () 2018-02-07 10:14:59 +01:00
Alexander Belyaev 58bc1ced68
Implement GetLandmarkPoses method. ()
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-02-06 18:13:31 +01:00
Christoph Schütte 9e977daf1d Remove gRPC compiler invocation from Bazel build () 2018-02-05 16:28:36 +01:00
Christoph Schütte b0945e4a4d Implement AddTrajectoryHandlerTest. () 2018-02-05 14:50:43 +01:00
Alexander Belyaev 28993a8963
Use landmarks in optimization (both 2D & 3D). ()
[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 () 2018-02-05 09:45:43 +01:00
Christoph Schütte df518b80c8 Remove gRPC proto compiler invocation from CMakeLists.txt () 2018-02-02 21:04:34 +01:00
Holger Rapp c212bbb698 Hand through intensities into the generated PLY - if they exist. () 2018-02-02 18:29:18 +01:00
Michael Grupp 655bd65abc Fix sphinx-build errors in evaluation.rst ()
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
Christoph Schütte 86a8944589 Implement tests for various data adding handlers () 2018-02-02 01:16:14 +01:00
Christoph Schütte 92fa1782f3 Implement RetryStrategies and use for AddTrajectory () 2018-02-01 22:31:33 +01:00
gaschler 9eaf960936 Configure remaining tests in bazel () 2018-02-01 21:58:59 +01:00
Alexander Belyaev eed51b8bb6 Cleaning up dependencies for constraint builder & optimization problem. () 2018-02-01 20:59:22 +01:00
Michael Grupp 9ca06bd06b Add ground truth documentation. ()
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 302320b1a9 Use framework::Client everywhere. ()
This switches all gRPC method invocation to using framework::Client. After this change we can remove the gRPC proto compiler from the build files.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
2018-02-01 17:19:15 +01:00
Alexander Belyaev 8ea46857ac
Move cerec_pose.* to mapping/pose_graph. () 2018-02-01 15:16:50 +01:00
gaschler 731bc89f22 Move handlers to cc, use MapBuilderContextInterface ()
This is to avoid a circular dependency with LocalTrajectoryUploader and to clean up.
2018-02-01 14:34:41 +01:00
Alexander Belyaev d195c77ebc
Add a 2D landmark cost function. ()
[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 ()
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. ()
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-02-01 11:58:13 +01:00
Christoph Schütte eb3e63bad6 Implement WriteMapHandler. () 2018-02-01 11:21:50 +01:00
Christoph Schütte 27e8c84f2e Introduce MapBuilderContextInterface () 2018-01-31 19:22:08 +01:00
Alexander Belyaev ab890a8e15
Move 3D landmark cost function to mapping_3d/. ()
[RFC=0011](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-01-31 18:40:10 +01:00
Christoph Schütte a749d28a67 Introduce framework::Client ()
Introduces a framework::Client class that makes it more convenient to call gRPC methods.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
2018-01-31 17:45:57 +01:00
Alexander Belyaev 0440761474
Move slerp and scaling of error to 'cost_helpers'. ()
[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 ()
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
Christoph Schütte 855743cac4 Check handler signature () 2018-01-31 14:46:59 +01:00
Christoph Schütte 9aecf23a37 Simplify Handler registration. () 2018-01-31 12:26:56 +01:00
Alexander Belyaev 708e7fc57d
Add a 'cost_helpers' library. ()
* Add a 'cost_helpers' library.

* Change naming and add comments.
2018-01-30 22:12:25 +01:00
Alexander Belyaev 93568641f9
Implement LandmarkCostFunction 3D. () 2018-01-30 15:18:13 +01:00
gaschler a7ed7e224f Upload LocalSlamResultData ()
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
PAIR=cschuet
2018-01-29 14:02:33 +01:00
Christoph Schütte 7d2e39af4b gRPC handler testing () 2018-01-29 12:01:17 +01:00