Adds a boolean argument to MapBuilderInterface::SerializeState() to indicate whether the caller wants to include unfinished submaps in the serialized state.
For cartographer_grpc this argument will be set to false since unfinished submaps do not have a Grid which would lead to a crash in the Submap::ToProto() function.
@pifon2a I've noticed the `BUILD_COMMAND` is broken. You're setting `ABSL_BUILD_COMMAND`, but using `ABSEIL_BUILD_COMMAND` (effectively empty). Somehow this doesn't confuse newer CMakes, but the one you install on Trusty gets confused and interprets this as a no-op build step. This causes the indigo pipeline in cartographer_ros to fail.
Use the cross-platform build command instead:
https://cmake.org/cmake/help/latest/module/ExternalProject.html#obtaining-project-properties (just above the linked paragraph)
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.
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
* [GenericPoseGraph] Add rotation 3d constraint.
* [GenericPoseGraph] Add serialization tests for constraints.
* Remove files from other branch
* Updated include paths.
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.
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.
* [GenericPoseGraph] Added relative pose cost 3d.
* Added another case to the test.
* Removed ceres function from cost function.
* Ran clang-format.
* Minor renaming.
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.
Christoph Schütte
Alexander Belyaev
Juraj Oršulić
Martin Schwörer
Wolfgang Hess
Arno Fleck
Michael Grupp
Sebastian Klose
Martin Bokeloh
Susanne Pielawa
gaschler
danielsievers