Commit Graph

1169 Commits (f76f849e6a9912f18493818728e170de57cc366d)

Author SHA1 Message Date
Kevin Daun d7b4656741 Initialize RangeData in TSDF tests. (#1520)
* Explicitly initialize RangeData.

* Use auto to remove redundancy.

* Ran clang-format.
2019-02-13 15:40:37 +01:00
Michael Grupp 2adeb1f3be Add gauge metrics for submaps in pose graph. (#1511)
Adds a metric family that monitors:

- the number of submaps in frozen trajectories
- the number of submaps in active trajectories
- the number of deleted/trimmed submaps
2019-02-05 17:15:45 +01:00
Andre Gaschler 2be43a3087
Update README.rst (#1510) 2019-01-29 14:15:03 +01:00
Wolfgang Hess 07b92072a0 Add serialization for TimestampedTransform. (#1495) 2019-01-18 17:10:43 +01:00
Jonathan Huber fd67975761 Allow introduction of new landmarks into loaded (frozen) map (#1475)
In the current implementation, as soon as one trajectory is frozen it is not possible to use new landmarks anymore.
In this PR a suggest a change, that allows introducing new landmarks also in the presence of a frozen trajectory. This is done with the following steps:
- Store set of frozen landmarks
- Landmarks that are loaded from a pbstream, with the flag ` load_frozen_state=true` are inserted into the set of frozen landmarks via `setLandmarkPose` function
- frozen landmarks are set constant in the optimization problem
- new landmarks can be introduced and will be optimized in the optimization problem

Motivated by and closes #1470
2019-01-17 16:57:30 +01:00
Alex Millane eec7af0a4f Fix TSD converter include location (#1500)
* Moved value converter include out of internal folder.

* Ran clang-format.
2019-01-16 10:04:57 +01:00
Wolfgang Hess e816ce01b5 Implement PixelDataMatrix. (#1494)
Eigen::Matrix (or Eigen::Array) with custom scalar types is
not intended for arbitrary structs:
https://eigen.tuxfamily.org/dox/TopicCustomizing_CustomScalar.html

This implements a simple class as a replacement.
2019-01-08 17:01:44 +01:00
Michael Grupp 53a1f6c2f7 Small fixes for PoseExtrapolator::UpdateVelocitiesFromPoses() (#1492)
- use `pose_queue_duration_` instead of hardcoded "0.001"
  (cartographer_ros sets this to 0.001, probably that's why this
  wasn't noticed)
- queue_delta is in seconds, log message said milliseconds
2019-01-03 10:03:48 +01:00
Michael Grupp 2d698e70e8 Fix regression in Protobuf find_package logic. (#1491)
The introduced changes are not compatible with CMake < 3.6 if the
FindProtobuf.cmake bundled with CMake is used.
Since our minimum required version is 3.2, I consider this to be a bug.

- camel-case variables names weren't used before 3.6
  (upper-case is lowered in CMake > 3.6 for backwards compatibility)
- the `CONFIG` search for the Windows build logs a warning even if the
`REQUIRED` search succeeds, should be quiet
2019-01-03 09:19:00 +01:00
Andre Gaschler b038e07fff Bump protobuf for Bazel 0.21 (#1493)
Protobuf 3.5 would require a Bazel flag
bazel build --incompatible_package_name_is_a_function=false
for Bazel 0.21 because its bazel syntax is old.
Rather than building with this flag, let's just update
the protobuf version.

Also, fix lint.
2019-01-03 08:35:32 +01:00
Andre Gaschler 752fb9507f Use efficient string concatenation (#1488)
std::string::operator+ is very inefficient
2019-01-02 13:57:02 +01:00
Andre Gaschler 5182dd1bf9
Correct spelling to bandwidth (#1490)
Previously, two config values were spelled "bandwith".
The assumption is that these values are not used in other
repositories so the rename is harmless.
2019-01-02 13:12:26 +01:00
Andre Gaschler 9925d360f4
Clone that contains prometheus version (#1489)
This silently worked when it was written, but in order 
to check out a specific commit we cannot have a shallow
clone of the master.
2019-01-02 11:50:51 +01:00
Christoph Schütte f73758e3a5
Upgrade all dependencies to new Starlark syntax. (#1483)
The update of the prometheus library requires some fixes in the test.
2018-12-18 14:19:29 +01:00
Juraj Oršulić c370d221d0 Windows build fixes & Azure CI (#1463)
This PR makes libcartographer build on Windows (including tests). Abseil was bumped to avoid a MSVC compiler bug.

I have observed two tests failing:
`MapBuilderTestByGridType/MapBuilderTestByGridType.GlobalSlam2D/1` and `MapBuilderTestByGridType/MapBuilderTestByGridType.LocalizationOnFrozenTrajectory2D/1`.
2018-12-16 17:04:23 +01:00
Michael Grupp 2abe1c72a6 Configurable miss_per_hit_limit in outlier removing processor. (#1476)
Was hardcoded to 3 before, but it makes sense to make this a parameter.
2018-12-16 00:06:09 +01:00
Christoph Schütte 9c92616567 Switch to new Starlark http_archive rule (#1482)
* Switch to new bazel workspace rules

* Add another override
2018-12-15 22:31:25 +01:00
Sebastian Klose 746ca07b8b Updating date for next open house (#1478)
Moving next Open House to January.
2018-12-13 15:42:31 +01:00
Andre Gaschler a33ef5de86 Update README.rst (#1467) 2018-11-22 19:43:58 +01:00
Michael Grupp e0b2196cec Add gauge metrics for inter-submap constraints. (#1465)
Since the constraint builder metrics are ever-increasing, it makes sense
to add gauges that monitor the current counts of constraints in the pose
graph. The main advantages are that they also take trimming into account
and distinguish constraints within or across trajectories.
2018-11-22 10:25:43 +01:00
Michael Grupp 7d69ca9fa0 Add git dependency to package.xml (for Abseil build). (#1462) 2018-11-14 13:28:03 -08:00
gaschler f806ac5de0 Add missing include to TaskTest (#1460) 2018-11-12 04:30:24 -08:00
amikholap b7fb299d1a Better Abseil library order (#1458)
Got linker error for Abseil in the build env due to imprecise library order.
Worked fine on the dev machine though.
Maybe helps someone.

https://pastebin.com/raw/AEKPBt1n
2018-11-06 17:50:19 +01:00
Michael Grupp aaa8a9a652 Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402)
Allows to build Docker images with Clang.
2018-10-31 15:34:05 +01:00
Alexander Belyaev 01af348100
Add Open House 25.10.18 slides. (#1456) 2018-10-26 21:05:16 +02:00
gaschler f060815a7f
Fix locking while modifying counter (#1454)
Clang with thread safety does not compile because
num_nodes_since_last_loop_closure_
is modified without holding a mutex.
This fixes it.
2018-10-25 15:30:06 +02:00
gaschler 5253186cbe Fix virtual destructors (#1453)
This is necessary because otherwise derived classes
are potentially deleted incompletely, using the destructor
of the interface.
2018-10-24 18:45:58 +02:00
gaschler ceddabbcbb Improve portability (#1452)
This change improves the portability of Cartographer.
2018-10-24 18:04:55 +02:00
Alexander Belyaev 1905b6bb59 Inline calls to Trim() in id_test. (#1451) 2018-10-24 16:38:41 +02:00
Michael Grupp d0348634b2 Enable -Wthread-safety for Clang and CMake. (#1403)
https://cmake.org/cmake/help/v3.2/variable/CMAKE_LANG_COMPILER_ID.html
2018-10-19 08:28:54 +02:00
Juraj Oršulić 6ad7b87b67 Inline a couple of 2D grid cell access functions (#1420)
Noticed ToFlatIndex during profiling. Inline a couple of other short functions as well.
2018-10-18 15:21:56 +02:00
Alexander Belyaev e1a839d668
Move the next Open House date. (#1445) 2018-10-11 15:36:36 +02:00
Alexander Belyaev ccc25862bf
[GenericPoseGraph] Add a helper func to add PoseGraphData. (#1443) 2018-10-10 13:38:58 +02:00
Kevin Daun de4886ea4e Read missing option fix_z_in_3d in OptimizationProblemOptions. (#1440) 2018-10-10 11:33:22 +02:00
Alexander Belyaev 5e11365749
[ABSL] Use flat_hash_set instead of unordered_set. (#1442) 2018-10-08 12:43:17 +02:00
Alexander Belyaev bdb6f2db4a
[ABSL] Use flat_hash_map instead of unordered_map. (#1439) 2018-10-08 10:47:28 +02:00
Alexander Belyaev 8285673abb [GenericPoseGraph] Add 'group_id' field to NodeId. (#1438) 2018-10-02 17:07:03 +02:00
Alexander Belyaev fa35a21493 [GenericPoseGraph]: How could I forget it?! Facepalm. (#1437) 2018-10-02 12:10:10 +02:00
Alexander Belyaev 607de03d6b
[GenericPoseGraph] Proto for pose graph solver config. (#1436) 2018-10-01 16:16:44 +02:00
Alexander Belyaev 64062ee720 [GenericPoseGraph] Rename class Optimizer -> Solver. (#1435) 2018-10-01 13:48:52 +02:00
Michael Grupp ba859a6ed5 Add WriteStateToFileResponse. (#1428)
Changes the public map builder API, but is required to not break the ROS API.
See also https://github.com/googlecartographer/cartographer_ros/pull/1014 and #1422
2018-09-15 00:03:30 +02:00
gaschler d53ac8102b Update README.rst (#1427) 2018-09-14 12:19:33 +02:00
gaschler 2e8df42f88 Increase gRPC timeout for AddTrajectory (#1426)
A common use case is that a gRPC server and a gRPC--ROS bridge node
are started at the same time.
Setting the timeout of the stub higher ensures that these can connect
even when the gRPC server starts up slowly.
2018-09-14 10:32:47 +02:00
gaschler 601fc3c7d0 Increase gRPC message size (#1425)
ISSUE=#1422
2018-09-13 15:35:59 +02:00
Christoph Schütte f995744c63 Implement MapBuilderService.WriteStateToFile() (#1424) 2018-09-13 14:53:51 +02:00
Michael Grupp a21ecf9b99 Add load_frozen_state also to LoadStateFromFile gRPC requests. (#1423) 2018-09-13 10:13:16 +02:00
gaschler 5cbe09fef2 update open house (#1421) 2018-09-12 16:49:17 +02:00
Steve Wolter d6772cf274 Replace token file with Google auth in MapBuilder. (#1417)
This allows Cartographer to use normal Application Default Credentials
(ADC) instead of a hand-generated format.

Google-internally, we'll only use ADC going forward. At your option, I
can keep the old code for the token files around if you think it would
be generally useful. Many OSS programs follow the same approach.
2018-09-12 09:14:58 +02:00
Michael Grupp 1d20cef33e Check output stream in pbstream migration tool. (#1416)
Avoids failing silently, e.g. when file permissions are lacking.
2018-09-10 14:55:33 +02:00
gaschler 1ddfd9c6d3
Fix LocalTrajectoryUploader recovery (#1415)
Make sure no data is uploaded to an interrupted uplink trajectory,
but create a new uplink trajectory to upload to that one.
2018-09-10 12:03:10 +02:00