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Juraj Oršulić f047ad35c1 Add Ceres sparse linear algebra library dependency (#189) 
Ceres can be built without linking against a sparse linear algebra library
such as SuiteSparse or Eigen-sparse. This can happen if the user does not
have all the dependencies, which normally get installed when following
the Cartographer installation guide. In this case, Cartographer will
work, but without loop closures, because Ceres is not working fast enough
(the loop closure optimization without a sparse linear algebra library
is a few orders of magnitude slower). Another bad side effect of this is
that Cartographer will hang when finalizing the trajectory or on exit,
because all loop closing optimizations will be waiting in a queue which
can take hours to process.

When Ceres is regularly built against a sparse linear algebra library, as it
is supposed to be, it declares a component named SparseLinearAlgebraLibrary.
Because normal functioning of Cartographer seemingly depends on this being
present, it is introduced here in Cartographer as a required Ceres component
dependency.
 		2017-01-26 11:14:58 +01:00
cartographer Make intensities a separate channel in PointsBatch. (#187) 2017-01-24 15:08:41 +01:00
cmake Rerun CMake when files are added/removed. (#170) 2016-12-21 12:05:15 +01:00
configuration_files Remove the 'log_residual_histograms' option. (#166) 2016-12-19 17:57:12 +01:00
docs Add resolution of option types to the documentation script. (#180) 2017-01-10 12:23:10 +01:00
scripts Add resolution of option types to the documentation script. (#180) 2017-01-10 12:23:10 +01:00
.dockerignore Add Xenial to build matrix. (#156) 2016-12-09 10:57:41 +01:00
.gitignore Add .gitignore to hide the "build" directory (#40) 2016-10-10 18:07:48 +02:00
.travis.yml Fix documentation and Docker cache. (#157) 2016-12-09 13:08:43 +01:00
AUTHORS Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
CMakeLists.txt Add Ceres sparse linear algebra library dependency (#189) 2017-01-26 11:14:58 +01:00
CONTRIBUTING.md Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
Dockerfile.trusty Add Xenial to build matrix. (#156) 2016-12-09 10:57:41 +01:00
Dockerfile.xenial Add Xenial to build matrix. (#156) 2016-12-09 10:57:41 +01:00
LICENSE Initial import of Cartographer codebase. 2016-08-02 09:12:42 +02:00
README.rst Add License badge. (#163) 2016-12-19 09:19:15 +01:00
cartographer-config.cmake.in CMake fixes. (#178) 2017-01-09 13:49:21 +01:00
package.xml Switch to new ceres-solver package. (#139) 2016-11-22 16:33:14 +01:00

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/googlecartographer/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

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

* Learn to use Cartographer at `our Read the Docs site`_.
* Please join the `mailing list`_ and ask questions.

.. _our Read the Docs site: https://google-cartographer.readthedocs.io
.. _mailing list: https://groups.google.com/forum/#!forum/google-cartographer

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

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

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

.. |build| image:: https://travis-ci.org/googlecartographer/cartographer.svg?branch=master
    :alt: Build Status
    :scale: 100%
    :target: https://travis-ci.org/googlecartographer/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/googlecartographer/cartographer/blob/master/LICENSE
.. |video| image:: https://j.gifs.com/wp3BJM.gif
    :alt: Cartographer 3D SLAM Demo
    :scale: 100%
    :target: https://youtu.be/DM0dpHLhtX0