Commit Graph

1110 Commits (e5894cce1f8047d5c807158711e468b3f5550f1a)

Author SHA1 Message Date
Atsushi Watanabe ccc26a7f4f Add missing <vector> include. () 2016-10-18 14:35:45 +02:00
Wolfgang Hess 4d361abe41 Extract SpaCostFunctions into their own files. () 2016-10-17 16:14:24 +02:00
Damon Kohler f798805c4f Removes templating on data type. () 2016-10-17 14:47:48 +02:00
Damon Kohler 2eca021003 Moves SensorCollator into sensor package. () 2016-10-17 10:18:17 +02:00
Holger Rapp c2aed53ce8 Adds a points processing pipeline and a XRay creator. ()
- Adds cairo as required dependency.
- Adds an 'io' module.
2016-10-14 15:14:46 +02:00
Holger Rapp b81e855a8d update_cmakelists.py now support running over multiple directories. () 2016-10-14 13:43:09 +02:00
Wolfgang Hess 098349f67e Rename LaserFan3D to LaserFan. () 2016-10-14 12:06:54 +02:00
Wolfgang Hess 9020f71605 Remove LaserFan in favor of LaserFan3D. ()
LaserFan3D will be renamed in the next PR.
2016-10-14 11:26:53 +02:00
Wolfgang Hess cac501cdb1 Always use the 3D voxel filter. () 2016-10-13 18:56:41 +02:00
Wolfgang Hess 5aad2d6feb Change 2D scan matching to use 3D point clouds. () 2016-10-13 17:52:05 +02:00
Wolfgang Hess 9006fb6fb1 Show the unprojected point cloud in 2D SLAM. ()
We now project to 2D later in 2D SLAM, so that the roll and pitch
applied to the laser fan in visible in the visualization.
2016-10-13 17:16:32 +02:00
Holger Rapp 0bf37d0190 update_cmakelists.py no longer overwrites. () 2016-10-13 15:30:44 +02:00
Wolfgang Hess 7d93ac3302 Simplify the conversion of LaserScan to LaserFan3D. () 2016-10-13 15:09:36 +02:00
Damon Kohler 518850999f Moves SensorData struct into Cartographer. () 2016-10-13 14:17:28 +02:00
Holger Rapp edff6a1e24 Remove all mentions of ZLIB. ()
We do not actually use zlib anywhere anymore.
2016-10-13 12:33:27 +02:00
Wolfgang Hess cc7cc6f72b Move the ImuTracker and OdometryStateTracker to mapping. ()
Both are useful without a UKF.
2016-10-13 10:51:12 +02:00
Holger Rapp 8f64860b5d Preparing changes to use automatic CMakeFiles also in the ROS projects. () 2016-10-12 17:03:46 +02:00
Holger Rapp be813a06fe Prepare CMake files for testing support. ()
- Only build gmock if we really require testing.
- Adds a wrapper for generating catkin aware tests. This works around
  .
2016-10-12 15:38:12 +02:00
Holger Rapp 8e7996f015 Extend CMake functions for reuse in other Cartographer subprojects. ()
- Change CARTOGRAPHER_LIBRARIES to be absolute path to adhere to the
  CMake documentation.
2016-10-12 13:39:03 +02:00
Damon Kohler f6c9f9565f Adds system requirements label. () 2016-10-12 12:52:26 +02:00
Damon Kohler 1b7eb7fad7 Improves documentation. ()
* Adds system requirements.
* References our mailing list.
* Nudges folks toward using ROS.
2016-10-11 16:09:55 +02:00
Holger Rapp eeb17bf055 Adds google_binary to create installable binaries. ()
- Do not link in Ceres if gflags or glog is used, but still rely on ceres
  to find those libraries for us.
- Update CMakeLists with new settings.
2016-10-11 15:18:59 +02:00
Damon Kohler 8f5fc98188 Improves logging, fixes . () 2016-10-11 11:22:33 +02:00
catskul 045f6a7522 Pass Eigen arguments by const reference ()
Fixes .
2016-10-11 09:57:41 +02:00
catskul 49ec6a9e37 Add .gitignore to hide the "build" directory () 2016-10-10 18:07:48 +02:00
Damon Kohler 54d4e0a9bb Small documentation fixes. () 2016-10-05 17:27:08 +02:00
Damon Kohler f70e868b08 Small fixes to README. () 2016-10-04 15:39:44 +02:00
Wolfgang Hess 8238ad8bc3 Do not accumulate scans by default for 3D SLAM. () 2016-10-04 14:59:09 +02:00
Wolfgang Hess d2962c004f Remove the 'also_match_to_new_submaps' option. ()
Instead, using a different constraint_builder.sampling_ratio is preferred.
2016-09-30 16:00:10 +02:00
Damon Kohler 092b020c15 Adds demo video to readme. () 2016-09-29 13:22:00 +02:00
Wolfgang Hess e526a7022f Remove covariance computation from branch-and-bound. ()
These covariances were only used in 2D and are only an estimate.
Following 3D, we change 2D to use the (local) covariance computed
using Ceres.
2016-09-23 14:27:19 +02:00
Wolfgang Hess 14355a91a1 Remove dead code. () 2016-09-22 17:53:32 +02:00
Wolfgang Hess 0796d50b00 Removes max_covariance_trace option. ()
This option is no longer really useful to predict outliers.
It is removed and other parameters scaled to minimize the change
in behavior. And related cleanup.
2016-09-22 11:35:47 +02:00
Damon Kohler 83a29df102 Renames expect_imu to use_imu. () 2016-09-08 16:36:05 +02:00
Damon Kohler fc166fdefa Adds MapBuilder and cleans up some configurations. () 2016-09-08 16:21:25 +02:00
Wolfgang Hess 54a7faf294 Optimize only once per submap in 2D. ()
The setting was unintentionally set to optimize twice per submap which
harms parallelism.
2016-09-08 14:36:33 +02:00
Wolfgang Hess ea0f93aa9a Adds the libwebp-dev dependency to package.xml. () 2016-09-02 11:49:27 +02:00
Wolfgang Hess 175e9e4aab Add reference to the paper to the documentation. () 2016-09-01 11:46:17 +02:00
Damon Kohler fef592c41b Switch to using our own Catkin wrapper for Ceres. () 2016-08-30 15:28:44 +02:00
Wolfgang Hess e5585c6ace Clean up package.xml and add missing dependencies. ()
Clean up package.xml and add missing dependencies.
2016-08-30 14:48:12 +02:00
Wolfgang Hess 83faf925c0 Improve the Cartographer documentation. ()
Cartographer itself is not the ROS integration component.
Also adds a link to the cartographer_ros repository.
2016-08-29 10:23:27 +02:00
Damon Kohler c28fcc7152 Adds build status badge. () 2016-08-26 17:42:38 +02:00
Wolfgang Hess 5b20df7fcb Fix a bug introduced in the recent clean up. () 2016-08-26 17:40:37 +02:00
Damon Kohler 0c9f416da8 Fixes display of installation steps. () 2016-08-26 17:34:51 +02:00
Damon Kohler 9a303d0526 Sets up Travis CI. () 2016-08-26 16:34:38 +02:00
Wolfgang Hess 817dc884d5 Clean up and simplify MapLimits. ()
MapLimits no longer keeps redundant data.
2016-08-25 15:40:05 +02:00
Damon Kohler 9134a8967d Moves the bulk of our documentation to Sphinx. () 2016-08-25 15:39:51 +02:00
Wolfgang Hess 4c6a2fcb28 Clean up of XYIndexRangeIterator and MapLimits. () 2016-08-24 18:01:14 +02:00
Damon Kohler b50f1a6e96 Adds rate timer. () 2016-08-24 15:37:30 +02:00
Wolfgang Hess afa0cef31d Clean up xy_index.h. ()
Removes and simplifies code from free standing functions in xy_index.h.
2016-08-24 15:33:13 +02:00