gaschler
df1ee4bb29
Fix metric label. ( #944 )
...
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 ( #933 )
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Fixes #914
2018-02-28 12:47:19 +01:00
gaschler
363a337e67
Re-implement VoxelFilter with unordered_set ( #938 )
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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 )
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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 )
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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 )
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[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 )
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[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
Christoph Schütte
ed3502909c
Add yesterday's slides. ( #931 )
2018-02-26 10:34:56 +01:00
Michael Grupp
90994464a5
Check ifstream::good() in proto_stream.cc ( #929 )
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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 )
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[Code structure RFC](e11bca586f/text/0000-code-structure.md
)
2018-02-21 19:44:53 +01:00
gaschler
eabcab26ed
Expose metrics as http page. ( #920 )
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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. ( #921 )
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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 )
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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 )
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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 )
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* 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. ( #919 )
2018-02-20 16:00:01 +01:00
Alexander Belyaev
a58866cb38
Rename mapping_3d::PoseGraph to mapping::PoseGraph3D. ( #918 )
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[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 )
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[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 ( #916 )
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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 ( #915 )
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* 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 ( #906 )
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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 ( #907 )
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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 ( #908 )
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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 ( #909 )
2018-02-19 11:08:00 +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 )
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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 )
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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 ( #894 )
2018-02-13 10:17:45 +01:00
Alexander Belyaev
ac79f0c034
Save landmark poses after optimization run. ( #896 )
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[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 )
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[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. ( #893 )
2018-02-08 10:06:27 +01:00
Christoph Schütte
39f140da66
Follow googlecartographer/cartographer#859 ( #892 )
2018-02-07 16:35:44 +01:00
Alexander Belyaev
95dbcfdf9e
Serialize landmarks. ( #889 )
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[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. ( #890 )
2018-02-07 10:14:59 +01:00
Alexander Belyaev
58bc1ced68
Implement GetLandmarkPoses method. ( #888 )
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[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 ( #887 )
2018-02-05 16:28:36 +01:00
Christoph Schütte
b0945e4a4d
Implement AddTrajectoryHandlerTest. ( #886 )
2018-02-05 14:50:43 +01:00
Alexander Belyaev
28993a8963
Use landmarks in optimization (both 2D & 3D). ( #884 )
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[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
Christoph Schütte
df518b80c8
Remove gRPC proto compiler invocation from CMakeLists.txt ( #878 )
2018-02-02 21:04:34 +01:00
Holger Rapp
c212bbb698
Hand through intensities into the generated PLY - if they exist. ( #885 )
2018-02-02 18:29:18 +01:00
Michael Grupp
655bd65abc
Fix sphinx-build errors in evaluation.rst ( #883 )
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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