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1108 Commits (a5aa03b776220c5270dbddec359f471af59799b9)

Author SHA1 Message Date
Michael Grupp 7e05daa8ca Remove dotfiles from build files in CMakeLists.txt () 
Avoids including unwanted files that could appear in a developer
workspace (e.g. auto-generated files in "dot" folders).
 2018-03-06 18:39:46 +01:00
Alexander Belyaev f34df22a24
Update header guards. () 2018-03-05 14:55:51 +01:00
Alexander Belyaev cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. () 2018-03-05 14:09:04 +01:00
Alexander Belyaev f76d8a8a0d
Move cartographer_grpc/ to cartographer/cloud. () 
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
 2018-03-05 12:41:38 +01:00
Alexander Belyaev 93c450bf6c
Change R"PROTO raw strings to just R". () 
That is actually why Wally was pushing these changes to everyone: clang-format is ignoring these raw strings and does some weird formatting.
 2018-03-05 11:47:00 +01:00
Alexander Belyaev 61552314a0
Rename cartographer_grpc:: namespace as cartographer:☁️:. () 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)

also
`cartographer_grpc::mapping::` ->  `cartographer:☁️:`.
`cartographer_grpc::sensor::` ->  `cartographer:☁️:`.
 2018-03-02 23:21:28 +01:00
Alexander Belyaev b79e5b8e29
Move framework/, sensor/, testing/ to internal/. () 
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)

Added `map_builder_server_interface.h/cc` to hide `framework/*.h`.
 2018-03-02 14:16:49 +01:00
Rodrigo Queiro b51bf3dd6d Fix warning about incorrect workspace name () 
The workspace name for prometheus-cpp has been updated to the correct
canonical name.
 2018-03-02 13:32:58 +01:00
Alexander Belyaev d05e5d99f4
Hide 'handlers' to internal/. () 
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)

`LocalTrajectoryUploader` implementation was hidden in the anonymous namespace in `local_trajectory_uploader.cc` to remove dependency from handlers/ in the header. The follow-up PR will include splitting the files into `local_trajectory_uploader_interface.h` & `internal/local_trajectory_uploader.*`
 2018-03-02 11:38:35 +01:00
gaschler a2219cb2fc
Correct comment () 2018-03-02 10:25:23 +01:00
Alexander Belyaev 97c039bab2
Move pose_graph_stub/trajectory_builder_stub to internal. () 
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)

Also moved /mapping to /client. Namespace changes will follow.
 2018-03-01 18:30:30 +01:00
gaschler 0156e6b8ce Instrument metrics in local trajectory builders. () 
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. () 
This makes metrics_test in debug mode happy.
 2018-02-28 14:46:26 +01:00
Christoph Schütte c8c81dff35 Ignore pure_localization option on server () 
Fixes
2018-02-28 12:47:19 +01:00
gaschler 363a337e67 Re-implement VoxelFilter with unordered_set () 
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 () 
Enable loading unfrozen state
 2018-02-27 20:38:57 +01:00
Alexander Belyaev 29875117b3
Move internal/mapping to mapping/internal. () 2018-02-27 16:25:53 +01:00
gaschler 63fd497e0f Document HybridGrid limits. () 
Adds documentation to avoid issue .
 2018-02-27 15:28:35 +01:00
gaschler f606d4b91c Gracefully handle time-overlapping point clouds. () 
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. () 
[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::'. () () 
[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 () 2018-02-26 12:45:53 +01:00
Christoph Schütte ed3502909c Add yesterday's slides. () 2018-02-26 10:34:56 +01:00
Michael Grupp 90994464a5 Check ifstream::good() in proto_stream.cc () 
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::'. () 
[Code structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-21 19:44:53 +01:00
gaschler eabcab26ed Expose metrics as http page. () 
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
 2018-02-21 18:52:57 +01:00
gaschler 30114e364a Instrument metrics in constraint builders. () 
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 () 2018-02-21 16:43:58 +01:00
Alexander Belyaev 7d13383dec
Remove 'mapping_3d' namespace. () () 
Remove 'mapping_3d' namespace. ()

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. () 
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. () 2018-02-21 09:55:40 +01:00
gaschler ab05459f1c Move GlobalTrajectoryBuilder to cc file () 
* 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 c32cb49b01
Fix gRPC loading of pbstreams. () 2018-02-20 16:00:01 +01:00
Alexander Belyaev a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. () 
[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. () 
[rCode structure RFC](e11bca586f/text/0000-code-structure.md)
 2018-02-19 20:01:29 +01:00
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