Wolfgang Hess
dc6263414b
Remove Debian Stretch from CI. ( #1895 )
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It has reached end-of-life with the
end of LTS on June 30, 2022.
Signed-off-by: Wolfgang Hess <whess@fsfe.org>
2022-07-19 20:26:53 +02:00
Wolfgang Hess
f76f849e6a
Add Ubuntu 22.04 to the install scripts, CI, docs. ( #1888 )
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Signed-off-by: Wolfgang Hess <whess@fsfe.org>
2022-07-04 19:38:24 +02:00
Wolfgang Hess
b8228ee656
Remove Ubuntu Xenial from CI. ( #1833 )
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Ubuntu 16.04 has reached end of standard support.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
2021-05-07 15:52:57 +02:00
Wolfgang Hess
19a6eab07a
Change pbstream migrate to support new submap format. ( #1733 )
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This changes the migration support to:
1. Remove migration from old files from before version 1.0.
If this is still needed by someone, they can use the tool
as it was before this change.
2. Adds migration of maps without submap histograms. These
were so far migrated on-the-fly, but #1710 aims to remove
this.
See also #1709 .
This was tested by converting a serialized 3D map and verifying
it can still be used for localization. The file changed a little
bit, but it seems to be good enough.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-08-14 11:08:53 +02:00
Wolfgang Hess
e5894cce1f
Small Abseil fixes for dependents. ( #1711 )
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Enable PIC so that shared libraries can use the Cartographer
library.
Fixes the config so that dependent builds can find Abseil.
Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-06-25 09:35:57 +02:00
Wolfgang Hess
21a8299caa
Add Ubuntu 20.04 to the install scripts, CI, docs. ( #1706 )
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Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-06-18 14:44:58 +02:00
Wolfgang Hess
db85e0894d
Remove Ubuntu Trusty from CI. ( #1699 )
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Ubuntu 14.04 has reached end of standard support.
Moves additional testing that was only done for
Trusty to Bionic.
2020-06-10 11:13:34 +02:00
Wolfgang Hess
1b0d4f1fee
Add Ubuntu 18.04 to the install scripts, CI, docs. ( #1697 )
2020-06-04 11:09:18 +02:00
Wolfgang Hess
1659f0dc8b
Fix build status on front page. ( #1693 )
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Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.
2020-06-02 14:08:16 +02:00
Sebastian Klose
2b042311d8
Unified pbstream tool ( #1326 )
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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
2018-07-24 15:48:34 +02:00
Michael Grupp
8602bf9430
Nit: no hardcoded version and current year in Sphinx docs. ( #1268 )
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`Cartographer 1.0.0 documentation` -> `Cartographer documentation`
`Copyright 2016 The Cartographer Authors` -> `Copyright <year> The Cartographer Authors`
2018-07-12 20:43:36 +02:00
Michael Grupp
30bc6bd97a
Add equations for landmark cost function. ( #1254 )
2018-07-12 13:25:57 +02:00
Sebastian Klose
5b0fe666ee
Adding short description of pbstream migration tool ( #1181 )
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Adding a section to the docs, describing the existence and usage of the serialization migration tool.
2018-06-04 10:39:27 +02:00
Alexander Belyaev
207979f209
Add relative transform error 2d documentation. ( #1163 )
2018-05-23 13:22:26 +02:00
Michael Grupp
b5e5477f75
Fix Sphinx build warning. ( #1055 )
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Removes 'WARNING: html_static_path entry [...] does not exist'.
2018-04-12 16:33:38 +02:00
Michael Grupp
4351bdb3c8
Separate global optimization constraints for local SLAM and odometry ( #1029 )
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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
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
Michael Grupp
9ca06bd06b
Add ground truth documentation. ( #853 )
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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
f1616e16ec
Introduce bazel docker file ( #838 )
2018-01-23 10:50:51 +01:00
Wolfgang Hess
79b83b92b2
Make the MotionFilter internal. ( #707 )
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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
Wolfgang Hess
055728af93
Rename options for consistency. ( #686 )
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"scan" is better named "node" if it refers to a node in global SLAM.
"penalty factor" is renamed "weight" for consistency with other similar options.
"scans_per_accumulation" is renamed "num_accumulated_range_data" to match the code and since the accumulated data is not called "scan".
2017-11-17 10:52:22 +01:00
Wolfgang Hess
16d62f45f0
Rename sparse_pose_graph options. ( #682 )
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The default pose graph configuration is now included as "pose_graph.lua"
and available as POSE_GRAPH.
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md )
2017-11-16 11:48:25 +01:00
Wolfgang Hess
c866707013
Fix the configuration documentation script. ( #679 )
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Fixes #652 .
Now also includes documentation for one option that was "repeated"
and not "optional".
2017-11-15 14:17:33 +01:00
Holger Rapp
e29fc9787a
New proto compiler ( #644 )
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Also change Dockerfiles to build proto3 from HEAD.
PAIR=@cschuet
2017-11-10 11:16:44 +01:00
Wolfgang Hess
978544eca4
Add submap and gravity-aligned frame terminology. ( #624 )
2017-11-03 13:44:23 +01:00
Damon Kohler
0cd0148577
Update the high level overview and provide a link to a copyable Google Sketch. ( #607 )
2017-10-20 14:56:29 +02:00
Wolfgang Hess
bcd1be92b1
Adds a bit of terminology documentation. ( #591 )
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Changes code to match the new documentation.
2017-10-17 10:07:54 +02:00
jie
4fca78368d
Add Cartographer high level structure diagram to documentation ( #486 )
2017-09-28 08:27:27 +02:00
Wolfgang Hess
a7fe8bd2ab
Add filtered point cloud to TrajectoryNode::Data for 2D. ( #483 )
2017-08-28 11:17:53 +02:00
Christoph Schütte
96b71e227f
Add histograms for pose residuals ( #478 )
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* WIP Add histograms for pose residuals
* Address reviewers comments
* Address more comments.
2017-08-25 11:39:56 +02:00
jie
2fd2e86351
Add fixed frame pose weight into optimization problem options. ( #477 )
2017-08-24 15:40:48 +02:00
Wolfgang Hess
4d11a226ff
Expose low resolution matching scores. ( #470 )
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This is needed in preparation of adding a low resolution score histogram.
2017-08-23 17:48:49 +02:00
zjwoody
2e53586818
Also check low resolution match for 3D loop closure. ( #468 )
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Related to #369 .
2017-08-22 17:29:20 +02:00
zjwoody
ac693f3e04
Use separate voxel filter options for 3D loop closure. ( #465 )
2017-08-21 18:01:23 +02:00
Wolfgang Hess
11dbdf91b9
Remove unused code and option for odometry states. ( #451 )
2017-08-11 17:38:48 +02:00
Holger Rapp
3346474963
Grow the ProbabilityGrid as needed instead of preconfiguring its size. ( #387 )
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This removes the 'half_length' option.
PAIR=wohe
2017-07-05 14:17:04 +02:00
Wolfgang Hess
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
Damon Kohler
f765e55ea9
Use multi-res scan matching for loop closures too. ( #374 )
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Improves loop closure scan matcher refinement.
2017-06-30 09:30:09 +02:00
Wolfgang Hess
f88fcec851
Remove the unused OptimizingLocalTrajectoryBuilder. ( #368 )
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It has not been used for a long time and has to be replaced by
a better implementation.
2017-06-27 15:44:46 +02:00
Wolfgang Hess
2df8bcde61
Remove unused 'imu_gravity_variance' option. ( #363 )
2017-06-26 13:23:58 +02:00
Holger Rapp
ff37b0bb7d
Remove output_debug_images. ( #358 )
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This is now better done by RViz. This also gets rid of the dependency on webp.
2017-06-23 14:53:04 +02:00
Wolfgang Hess
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
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This follows #307 .
2017-06-01 15:04:07 +02:00
Wolfgang Hess
79dc1f848f
Remove 'laser' references from parameter names. ( #259 )
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Related to #250 .
2017-05-04 15:38:41 +02:00
Wolfgang Hess
4fa190d316
Rename LaserFan to RangeData. ( #224 )
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LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
Wolfgang Hess
b2175f0d93
Remove covariance from the 3D Ceres scan matcher. ( #200 )
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Instead of passing around fake covariances generated by the scan matcher,
we introduce appropriate values where they are needed.
2017-02-08 15:22:28 +01:00
Wolfgang Hess
1f27268664
Add resolution of option types to the documentation script. ( #180 )
2017-01-10 12:23:10 +01:00
Wolfgang Hess
1c433e6f3a
Refactor the documentation update script. ( #179 )
2017-01-10 10:43:16 +01:00
Wolfgang Hess
cd0ebbf536
Add the configuration doc and an update script. ( #172 )
2016-12-21 16:21:43 +01:00
Damon Kohler
78747eda62
Fix documentation and Docker cache. ( #157 )
2016-12-09 13:08:43 +01:00
Damon Kohler
f6c9f9565f
Adds system requirements label. ( #46 )
2016-10-12 12:52:26 +02:00