Go to file
Michael Grupp 82a3970f76
Handle multiple frozen trajectories as one connected component. (#1610)
This fixes local constraint search in frozen maps built from multiple trajectories.

Local constraint search from a localization trajectory to a set of frozen trajectories
(i.e. the map) is done only among trajectories that are transitively connected in the
same connected component. If we set an initial pose, we create such a connection
to one frozen trajectory, but we were so far not able to do a local constraint search
w.r.t. to other frozen trajectories because they're not connected among each other.
Any constraints between them are not loaded (because they’re frozen).
2020-06-17 10:59:39 +02:00
.bazelci Limit `bazel test` parallelism more precisely (#1094) 2018-04-19 18:51:20 +02:00
.github Updated PR template taking wally into account. (#663) 2017-11-14 14:41:48 +01:00
bazel Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
cartographer Handle multiple frozen trajectories as one connected component. (#1610) 2020-06-17 10:59:39 +02:00
cmake Small fixes needed for focal support. (#1704) 2020-06-17 10:09:14 +02:00
configuration_files Allow using TolerantLoss for INS in pose graph optimization (#1700) 2020-06-15 10:56:23 +02:00
docs Remove Ubuntu Trusty from CI. (#1699) 2020-06-10 11:13:34 +02:00
scripts Remove Ubuntu Trusty from CI. (#1699) 2020-06-10 11:13:34 +02:00
.bazelrc Upgrade all dependencies to new Starlark syntax. (#1483) 2018-12-18 14:19:29 +01:00
.dockerignore Add Xenial to build matrix. (#156) 2016-12-09 10:57:41 +01:00
.gitignore Add a Bazel build for cartographer (#834) 2018-01-22 16:47:07 +01:00
.travis.yml Remove Ubuntu Trusty from CI. (#1699) 2020-06-10 11:13:34 +02:00
AUTHORS Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
BUILD.bazel Add licenses() declarations to BUILD files (#843) 2018-01-24 13:16:25 +01:00
CHANGELOG.rst Release 1.0 (#1177) 2018-06-05 12:54:07 +02:00
CMakeLists.txt Do not use native CMake config for Protobuf on Linux (#1529) 2019-03-08 11:43:07 +01:00
CONTRIBUTING.md Change from Google CLA to DCO in CONTRIBUTING.md. (#1702) 2020-06-16 18:15:25 +02:00
Dockerfile.bionic Remove Ubuntu Trusty from CI. (#1699) 2020-06-10 11:13:34 +02:00
Dockerfile.jessie Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402) 2018-10-31 15:34:05 +01:00
Dockerfile.stretch Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402) 2018-10-31 15:34:05 +01:00
Dockerfile.trusty.bazel Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402) 2018-10-31 15:34:05 +01:00
Dockerfile.xenial Configurable CC/CXX compiler toolchain in Dockerfiles. (#1402) 2018-10-31 15:34:05 +01:00
LICENSE Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
README.rst Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
RELEASING.rst Fix build status on front page. (#1693) 2020-06-02 14:08:16 +02:00
WORKSPACE Upgrade all dependencies to new Starlark syntax. (#1483) 2018-12-18 14:19:29 +01:00
azure-pipelines.yml Windows build fixes & Azure CI (#1463) 2018-12-16 17:04:23 +01:00
cartographer-config.cmake.in Windows build fixes & Azure CI (#1463) 2018-12-16 17:04:23 +01:00
package.xml Drop superfluous ROS dependency on catkin (#1599) 2020-06-03 11:13:57 +02:00

README.rst

.. Copyright 2016 The Cartographer Authors

.. Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

..      http://www.apache.org/licenses/LICENSE-2.0

.. Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

============
Cartographer
============

|build| |docs| |license|

Purpose
=======

`Cartographer`_ is a system that provides real-time simultaneous localization
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
configurations.

|video|

.. _Cartographer: https://github.com/cartographer-project/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

Getting started
===============

* Learn to use Cartographer at `our Read the Docs site`_.
* You can ask a question by `creating an issue`_.

.. _our Read the Docs site: https://google-cartographer.readthedocs.io
.. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question

Contributing
============

You can find information about contributing to Cartographer at `our Contribution
page`_.

.. _our Contribution page: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md

Open house slide archive
========================

In the past there had been regular open-for-all meetings to discuss progress and plans for Cartographer.
Slides of these Cartographer Open House meetings are listed below.

- March 14, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190314/slides.pdf>`_
- February 21, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190221/slides.pdf>`_
- January 17, 2019: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/190117/slides.pdf>`_
- November 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181122/slides.pdf>`_
- October 25, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/181025/slides.pdf>`_
- September 13, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180913/slides.pdf>`_
- August 16, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180816/slides.pdf>`_
- August 2, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180802/slides.pdf>`_
- July 5, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180705/slides.pdf>`_
- June 21, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180621/slides.pdf>`_
- June 7, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180607/slides.pdf>`_
- May 24, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180524/slides.pdf>`_
- May 3, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180503/slides.pdf>`_
- March 29, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180329/slides.pdf>`_
- February 22, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180222/slides.pdf>`_
- February 8, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180208/slides.pdf>`_
- January 18, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180125/slides.pdf>`_
- January 11, 2018: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/180111/slides.pdf>`_
- December 7, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171207/slides.pdf>`_
- November 23, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171123/slides.pdf>`_
- November 9, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171109/slides.pdf>`_
- October 26, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171026/slides.pdf>`_
- October 12, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/171012/slides.pdf>`_
- September 14, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170914/slides.pdf>`_
- August 17, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170817/slides.pdf>`_
- July 20, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170720/slides.pdf>`_
- July 6, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170706/slides.pdf>`_
- June 22, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170622/sildes.pdf>`_
- June 8, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170608/slides.pdf>`_

.. |build| image:: https://travis-ci.org/cartographer-project/cartographer.svg?branch=master
    :alt: Build Status
    :scale: 100%
    :target: https://travis-ci.org/cartographer-project/cartographer
.. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
    :alt: Documentation Status
    :scale: 100%
    :target: https://google-cartographer.readthedocs.io/en/latest/?badge=latest
.. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
     :alt: Apache 2 license.
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/blob/master/LICENSE
.. |video| image:: https://j.gifs.com/wp3BJM.gif
    :alt: Cartographer 3D SLAM Demo
    :scale: 100%
    :target: https://youtu.be/DM0dpHLhtX0