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Author SHA1 Message Date
Tobias Ulvgård b2e948d8a2 Fix typo in CMake install script (#683) 
Fixes a typo in CMake scripts when installing generated header files.
 2017-11-16 09:16:34 +01:00
Wolfgang Hess bdca2095c0 Rename proto::SparsePoseGraph. (#680) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 14:58:49 +01:00
Wolfgang Hess c866707013 Fix the configuration documentation script. (#679) 
Fixes #652.
Now also includes documentation for one option that was "repeated"
and not "optional".
 2017-11-15 14:17:33 +01:00
Wolfgang Hess c25379cd20 Rename mapping_{2,3}d::SparsePoseGraph. (#678) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 13:50:18 +01:00
Wolfgang Hess 8c114d6eaf Rename mapping::SparsePoseGraph. (#677) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 12:06:19 +01:00
Wolfgang Hess 36b9cf7f9a Move the mapping_3d/sparse_pose_graph directory. (#676) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 11:30:35 +01:00
Wolfgang Hess 26db9d6210 Move the mapping_2d/sparse_pose_graph directory. (#675) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 10:52:06 +01:00
catskul f6192e4735 replace implicit use of cartographer::string with explicit use of std::string (#673) 
Fixes #622.
 2017-11-15 10:17:59 +01:00
Wolfgang Hess 291c0f581b Move the mapping/sparse_pose_graph directory. (#669) 
[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
 2017-11-15 09:39:45 +01:00
gaschler 7904808d40 Reduce transforms in LocalTrajectoryBuilder. (#668) 
This speeds up AddRangeData because we avoid one copy and loop over all points.
 2017-11-15 09:15:02 +01:00
catskul 8c9fac4c69 #671 switch ordering of args in find_package for Protobuf (#672) 
per #671
 2017-11-15 08:49:33 +01:00
Juraj Oršulić 818e5e1a44 Add local SLAM result callback. (#574) 
Depends on ~~#619~~ (merged) and ~~#617~~ (merged).
Related to #508.

Also, if cartographer_ros is going to use this, and we wish to serialize the saved range data, that will have to be handled in cartographer_ros, right?
 2017-11-14 17:19:14 +01:00
Wolfgang Hess a4c0e4754e Rename scan to node. (#667) 
Changes the naming from "scan" to "node" in the pose graph.
AddNode() adds a new node to the graph which might contain
data from multiple range sensors and not necessarily one scan.

Configuration and documentation changes might follow in a
separate PR.

Related to #280.
 2017-11-14 16:53:31 +01:00
Juraj Oršulić 4b342eddd0 Miscellaneous: rename odometer->odometry (#665) 
Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
 2017-11-14 16:18:07 +01:00
Juraj Oršulić 5496cbdc0c Serialize odometry data (#666) 
Replaces #550.
 2017-11-14 15:18:39 +01:00
Holger Rapp a7680f60d4 Updated PR template taking wally into account. (#663) 2017-11-14 14:41:48 +01:00
Juraj Oršulić 60c72cb445 Deserialize trajectory connectivity (#552) 2017-11-14 13:26:53 +01:00
Wolfgang Hess 3ec583a327 Change fixed_frame_pose_data_ to MapByTime. (#662) 2017-11-13 17:41:04 +01:00
gaschler fd5003b69b Omit odometry penalty within frozen trajectory. (#661) 
In the case of pure localization, this reduces the size of the optimization problem by a large factor.
 2017-11-13 14:19:15 +01:00
Wolfgang Hess 4a8607810e Change odometry_data_ to MapByTime. (#655) 2017-11-13 13:21:53 +01:00
damienrg d183ab737a Fix mismatched tag warning for MapByIndex (#658) 
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
 2017-11-13 10:18:58 +01:00
damienrg a9da74496a Fix unused lambda capture warning (#659) 
- [ X] Keep your PR rebased to master.
- [ X] Keep your PR under 200 lines of code and address a single concern.
- [ X] Add unit test(s) and documentation (these do not count toward your 200 lines).
- [ X] Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
- [ X] Run `clang-format -style=Google` on your code (this alone is not enough to ensure you've followed the style guide).
- [ X] Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
 2017-11-13 09:44:12 +01:00
Christoph Schütte 6e274766f2 Remove unnecessary [packed=true] annotation (#660) 
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
 2017-11-13 09:18:53 +01:00
Christoph Schütte 53471359f8 Convert all .proto files to proto3 syntax. (#653) 
[RFC=0000](https://github.com/googlecartographer/rfcs/blob/master/text/0000-proto3-transition.md)
 2017-11-13 08:26:35 +01:00
jie ed71914805 Add MutexLocker to ConnectedComponents::GetComponent and SparsePoseGr… (#565) 
…aph::TrimmingHandle::MarkSubmapAsTrimmed

To make them compile successfully in google.
 2017-11-10 17:21:20 +01:00
Christoph Schütte 752a279035 Adds slides from Cartographer Open House IX (#654) 2017-11-10 16:56:35 +01:00
Damon Kohler 0de177d207 Adds PR template text. (#609) 2017-11-10 16:29:38 +01:00
Juraj Oršulić eb4415d17d Introduce MatchingResult for LocalTrajectoryBuilder::AddRangeData. (#619) 
In preparation for #574. Depends on ~~#618~~ (merged) and ~~#617~~ (merged).
 2017-11-10 14:49:41 +01:00
Holger Rapp 5363285b8f CMake bug fixes and performance improvements. (#648) 
- Pin versions of Ceres and protobuf (Fixes #341).
- Require Lua >= 5.2 (Fixes #629).
- No longer run ceres tests in CI. We implicitly test Ceres through Cartographer's tests and this saves ~4 minutes on CI.
 2017-11-10 12:55:43 +01:00
Holger Rapp e29fc9787a New proto compiler (#644) 
Also change Dockerfiles to build proto3 from HEAD.

PAIR=@cschuet
 2017-11-10 11:16:44 +01:00
Jihoon Lee 028391357d Add OccupancyGridState and SubmapState in cartographer/io (#638) 
replaces #599 
related to googlecartographer/cartographer_ros#510
 2017-11-09 17:19:29 +01:00
Wolfgang Hess 418819a9ef Use 'global_pose' terminology for submaps. (#645) 
Use 'global_pose' terminology for submaps.

This follows #624.
 2017-11-09 16:40:21 +01:00
gaschler 6eaf0f344d FastCorrelativeScanMatcher outputs unique_ptr. (#643) 2017-11-09 16:08:16 +01:00
Juraj Oršulić e21fc9f253 Serialize IMU data. (#548) 2017-11-09 15:32:54 +01:00
Jihoon Lee 3bdee588bd Add FinishTrajectory() in SparsePosegraph. (#562) 2017-11-09 14:29:26 +01:00
Wolfgang Hess 92f81aec8a
Make proto::ProbabilityGrid proto3 compatible. (#641) 
Moves the optional 'known_cells_box' into a message field.
This way its existence can still be checked in proto3.
 2017-11-09 11:47:33 +01:00
gaschler 386ee328d8
Fix 3D yaw rotation in GenerateDiscreteScans. (#640) 
Correctly generates discrete scans rotating around yaw in the gravity-aligned global map frame.
Fixes #639.
PAIR=wohe
 2017-11-08 17:37:36 +01:00
Christoph Schütte eb96c91473
Initial pose implementation. (#606) 2017-11-08 14:01:38 +01:00
catskul 55e4338468 Start cleaning up Google specific types by making them cartographer private. 
move string and size specific int/uint types into cartographer namespace as minimal change necessary to keep global namespace clean (#637)
 2017-11-08 09:07:46 +01:00
Wolfgang Hess 088681f9ec
Add 3D localization support. (#632) 
This adds information about which nodes are contained in which
deserialized submaps. This is necessary for the rotational scan
matcher.

Also skips frozen trajectories when tying together nodes of a
trajectory with IMU data which is unavailable in this case.
 2017-11-07 11:26:41 +01:00
Juraj Oršulić 8186316d77 Range loop over trajectories for MapByTime (#633) 2017-11-06 17:14:01 +01:00
Alexander Belyaev 0d2bc8b938 Adds a 'LandmarkData' struct and proto. (#628) 2017-11-06 15:35:21 +01:00
Wolfgang Hess 77fb50fd76
Introduce sensor::MapByTime<>. (#631) 
This data structure is used for keeping IMU data. This
allows trimming IMU data in the middle which is needed for
life-long mapping.
 2017-11-06 13:36:59 +01:00
Wolfgang Hess 049f30d824
Generalize IntegrateImu(). (#627) 
This is in preparation of changing the data structure
for IMU data away from a deque. Needed for localization
and life-long mapping.
 2017-11-06 11:00:33 +01:00
Holger Rapp 7c31291b2b Add assets used for the Cartographer shirt. (#630) 2017-11-06 10:36:38 +01:00
gaschler 8854aaae9e Extrapolator reuses result using additional IMU trackers. (#623) 
This makes the extrapolator stricter that time arguments
must be monotonously increasing when calling the Extrapolate
methods.
 2017-11-03 16:19:55 +01:00
Wolfgang Hess 978544eca4
Add submap and gravity-aligned frame terminology. (#624) 2017-11-03 13:44:23 +01:00
gaschler 5a3bb14083 PoseExtrapolator::GetLastExtrapolatedTime (#626) 
This prepares the API for #623 and #616.
 2017-11-03 11:56:31 +01:00
Christoph Schütte 9be15466d3 Add slides and update next Open House date. (#625) 2017-11-03 11:26:55 +01:00
Juraj Oršulić 7964211fef Deserialize SPG constraints (#544) 2017-11-02 22:01:01 +01:00