Commit Graph

766 Commits (e2966ca1564017ff586522c1ea3b390ee501e633)

Author SHA1 Message Date
gaschler e2966ca156 Do not install gmock ()
Fixes the issue described in https://github.com/googlecartographer/cartographer/pull/1041.

The docker file is not to be merged, it is only here to help reproducing the issue and fix.
2018-04-11 13:48:03 +02:00
Alexander Belyaev 7286415e27 Remove unused variable. () 2018-04-11 13:15:09 +02:00
jie d1161b5f8e Internal cleanup ()
Fix lint errors.
2018-04-11 09:56:22 +02:00
Alexander Belyaev 7b0963216f
Move FakeTrimmable implementation to internal/testing. ()
* Move FakeTrimmable implementation to internal/testing.

* Address the comments.
2018-04-10 18:05:03 +02:00
gaschler 895f1d61b4 Glob only files in cartographer/ ()
FIXES=#1044
2018-04-10 15:14:59 +02:00
Michael Grupp 4351bdb3c8 Separate global optimization constraints for local SLAM and odometry ()
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
jie cf358e7640 Internal cleanup ()
Clean up the lint errors.
2018-04-10 09:43:36 +02:00
jie 74b35caf6e Internal clean up. ()
Add necessary headers to convenient the import to google.
Require holding mutex for some function that access the variables that guard by mutex.
2018-04-09 19:18:58 +02:00
gaschler e89625d36a Correctly use PrecomputationGridStack for 2D and 3D ()
FIXES=#1038
2018-04-09 14:29:45 +02:00
Alexander Belyaev b1dcb0cc5e Remove unused 'freeze_landmarks_' field. () 2018-04-05 18:40:48 +02:00
gaschler e26e9f172b RangeDataCollator handles empty range data. ()
FIXES=#1019
2018-04-04 15:20:10 +02:00
Alexander Belyaev abb2661b76
Allow trimmer to get nodes/constraints. ()
* Allow trimmer to get nodes/constraints.

* Mark the methods const.
2018-04-04 12:50:12 +02:00
Alexander Belyaev 41fc7e38cc Rename the setters according to style-guide. ()
just a nit
2018-04-03 18:56:44 +02:00
Christoph Schütte e8b0bfb285 Add last open house slides. () 2018-04-03 09:24:18 +02:00
Alexander Belyaev 8c6c584524
Allow trimmers fetch submap data. () 2018-03-28 12:07:28 +02:00
Alexander Belyaev 962393074a New fixes for Jets. ()
Issue 
2018-03-27 14:26:21 +02:00
gaschler 94f564d871
Test trimming within trajectory () 2018-03-27 12:50:35 +02:00
Alexander Belyaev e0e1c081e7
Do not use operator*= with Jets. () 2018-03-26 15:55:50 +02:00
Juraj Oršulić ae05658ff7 Work around FindGMock/Catkin target name clash ()
Handle case with multiple invocations (avoid pasting ${CMAKE_THREAD_LIBS_INIT} multiple times).
Also check if target 'gmock' already exists before building GMock to avoid failures if GMock was already
find_packaged() from another subproject.

FIXES=https://github.com/googlecartographer/cartographer_ros/issues/776
2018-03-26 14:23:32 +02:00
Christoph Schütte 915ebb19a6
Use async_grpc ()
Use async_grpc
2018-03-23 10:52:48 +01:00
Christoph Schütte ab1c99ab34 Update next Cartographer Open House date. () 2018-03-20 14:34:15 +01:00
Alexander Belyaev e48e21849a
Acquire mutex before copying landmark poses. () 2018-03-19 16:16:46 +01:00
Alexander Belyaev 4cc758e830
Serialize landmark observations. () 2018-03-19 15:12:47 +01:00
gaschler 7a7908ebb9 Test PureLocalizationTrimmer with actual pose graph () 2018-03-19 11:43:19 +01:00
gaschler b23ec8ce4e
Fix PureLocalizationTrimmer ()
Remove the wrong assumption that submap index is sequential from 0.
2018-03-19 10:35:35 +01:00
Juraj Oršulić ee530d2423 Purge some additional jets () 2018-03-16 19:12:56 +01:00
Alexander Belyaev 1f9c78a82b
Remove float-to-jet casts where possible. () 2018-03-16 14:53:10 +01:00
Alexander Belyaev 6102f374b1
Build Ceres with C++11. () 2018-03-16 13:03:57 +01:00
Alexander Belyaev 06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. ()
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md)
2018-03-16 12:01:55 +01:00
gaschler 37a68cd7f4 LocalTrajectoryBuilder uses RangeDataCollator ()
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
FIXES=#910
2018-03-15 16:34:51 +01:00
gaschler 55065a2108 Mockable optimization () 2018-03-15 14:13:59 +01:00
gaschler bd7d7202bf Filter RangeMeasurement ()
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
2018-03-15 12:31:08 +01:00
gaschler 067d01a364 Test PoseGraph3D () 2018-03-15 11:44:47 +01:00
gaschler ed47f9d8f8 OptimizationProblemInterface ()
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
2018-03-15 11:12:26 +01:00
Alexander Belyaev e6c4ee4b8b Move interpolation of poses to 'cost_helpers'. () 2018-03-15 10:33:02 +01:00
Alexander Belyaev 1e4d558ac4
Add landmarks to the state and deserialize them. () 2018-03-14 21:36:15 +01:00
gaschler 36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. ()
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md)
2018-03-14 14:51:40 +01:00
Alexander Belyaev 0190e7cd99 Clean-up dependencies of map_builder and put getters to the header. () 2018-03-14 13:33:44 +01:00
Alexander Belyaev c060a15670
Remove dead code: fast_global_localizer. () 2018-03-13 16:23:27 +01:00
Alexander Belyaev 4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. ()
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2018-03-13 15:18:05 +01:00
Wolfgang Hess c09b643d8d Synchronize correctly in FinishTrajectory(). ()
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
2018-03-13 14:10:51 +01:00
Alexander Belyaev 525f7afe7e
Move sensor-related stuff to internal/. ()
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2018-03-13 13:36:45 +01:00
gaschler 1187480fe6 Introduce RangeDataCollator ()
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.

[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md)
2018-03-13 11:08:01 +01:00
Alexander Belyaev 976736051c
Move scan matchers to internal/. () 2018-03-13 10:21:27 +01:00
Alexander Belyaev 70c7660348
Move even more stuff to internal/. ()
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2018-03-12 17:46:31 +01:00
Alexander Belyaev bfbf29dcd6
Move mapping/pose_graph/ to internal/. ()
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2018-03-12 14:00:18 +01:00
Alexander Belyaev 418e0964bf
Move pose_graph_*d related files to internal/. ()
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
2018-03-12 12:42:52 +01:00
Juraj Oršulić 091a4f852d Update descriptions in pose_graph.h ()
Remove "frozen", since deserialized trajectories can be unfrozen since .
2018-03-10 23:50:31 +01:00
Alexander Belyaev def4048e95
Make the cloud_uplink address empty by default. () 2018-03-09 16:57:58 +01:00
Alexander Belyaev 2fe1867221
Fix writing the pbstream via gRPC. () 2018-03-09 16:26:03 +01:00