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Remove GenericPoseGraph implementation not to confuse the users. It will come back one day.
* Update dependencies Update protobuf grpc and bazel-rules and added bazel-skylib (required by protobuf 3.7.1). Closes #1519
An empty basename would mean a directory path is returned by GetFullPathOrDie(), which then leads to a cryptic exception when trying to read from it using the istreambuf_iterator: "basic_filebuf::underflow error reading the file: iostream error"
Add saturation_factor to scale the saturation of the point color to get darker XRay for sparse point cloud.
Apparently the format bot uses a bleeding edge clang-format that uses the new Google style and reformats a bunch of files in every PR. This is an empty commit to trigger this in a separate commit. See llvm-mirror/clang@62e3198
`absl::StrCat/StrAppend` convert numeric values to strings with inconsistent decimal precision, which can lead to ugly formatting of the histogram. This can be fixed by using `StrAppendFormat` with `%f`, which uses 6 decimals (printf default and as it was when we had `std::to_string`).
…mon/histogram.cc (#1576) Also updates com_github_jupp0r_prometheus_cpp and bazel_skylib to fix compatibility issues with bazel 0.25
Fix the bug in RotateHistogram which may cause dead loop by numerical error.
This moves the Cartographer Open House slides to the bottom of the README as an archive, and clarifies that regular meetings are currently no longer happening.
Changes "googlecartographer" to "cartographer-project" for references to CI and GitHub.
…() (#1637) This should represent a considerable speedup.
This package's CMakeLists.txt doesn't reference catkin at all, and can be regarded as a "pure CMake" package. In fact, the package.xml already states that this package is built using cmake directly, but still depends on catkin. This change makes the package buildable without catkin, as would be desired when building with colcon in ROS 2.
Fixes the typo mentioned in #1637. Also improves naming and ran clang-format. Changed an integer literal to unsigned to fix a compiler warning.
Add an extra filter for 3D data. Solve the problem with 2D maps created from 3D sensors.
Ubuntu 14.04 has reached end of standard support. Moves additional testing that was only done for Trusty to Bionic.
… bug (#1616) This fixes the bug that has been faced during localization with an initial pose and a trimmed map (OverlappingSubmapsTrimmer2D has been used). A small test is added that reproduces the problem (an infinite loop) where a trimmed trajectory (MapById instance) is used.
Fix typo in RangeDataSorter.
This PR adds the possibility to use the TolerantLoss function for INS in pose graph optimization. This is currently switched off, and so there's not functional change. The ceres TolerantLoss function (see [description](http://ceres-solver.org/nnls_modeling.html), and [implementation](https://github.com/ceres-solver/ceres-solver/blob/master/internal/ceres/loss_function.cc)) has the following property - for large values of x it approaches a quadratic loss ("null loss") with the specified weight (fixed_frame_pose_translation_weight) - for small values of x it approaches a quadratic loss with a smaller weight - there's a crossover at some value x_c. The function is convex everywhere.
Signed-off-by: Wolfgang Hess <[email protected]>
Signed-off-by: Wolfgang Hess <[email protected]>
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).
Signed-off-by: Wolfgang Hess <[email protected]>
) Signed-off-by: Christian Clauss <[email protected]>
`Submap3D` now also stores a pointer to `IntensityHybridGrid`. Adapted `RangeDataInserter3D` to also insert intensities. Signed-off-by: Wolfgang Hess <[email protected]>
* restrict boost dependencies to the ones used * Also add googletest as a build dependency. * Set GMOCK_INCLUDE_DIRS when doing src fallback. Signed-off-by: Mikael Arguedas <[email protected]> Signed-off-by: Chris Lalancette <[email protected]> Co-authored-by: Mikael Arguedas <[email protected]>
Disabled by default. Signed-off-by: Wolfgang Hess <[email protected]>
pose_graph_data.h and io test_helpers.h are currently public, i.e. get installed, but cannot possibly be used since they refer to internal headers. Signed-off-by: Wolfgang Hess <[email protected]>
…1757) This introduces an option to control the amount of odometry data that enters the pose graph by motion-filtering it. This is very useful to bound memory when standing still for longer periods of time. If the new option is not configured, all odometry data goes unfiltered into the pose graph as usual. Signed-off-by: Michael Grupp <[email protected]>
In common, BlockingQueue and RateTimer are not used in any public API and are made internal. `common/utils.h` is unused code and removed. Signed-off-by: Wolfgang Hess <[email protected]>
Moves options next to the interface like we do for other interfaces. Adds a factory function to remove the need for direct use of MapBuilder. Signed-off-by: Wolfgang Hess <[email protected]>
We refer to CONTRIBUTING.md from the PR template now which is now the single place containing all information. Reference to the bot is removed since it is currently not being used. We point contributors to using clang-format. We link to PR and code review best practices now. Signed-off-by: Wolfgang Hess <[email protected]>
Signed-off-by: Wolfgang Hess <[email protected]>
Related to #1413. Signed-off-by: Wolfgang Hess <[email protected]>
The moved headers are not used in any public API. Signed-off-by: Wolfgang Hess <[email protected]>
The deletion logic needs to take care of deleting all data that is "exclusively" connected to the submaps that are to be removed. This is achieved by looking at the data that is connected via constraints in the graph. Deleting a frozen trajectory (one without optimization constraints) doesn't work that way and would leave dangling nodes in the graph. This adds an additional logic that uses the `node_ids` field of the submap instead of the constraints if the trajectory is frozen. Signed-off-by: Michael Grupp <[email protected]>
Signed-off-by: Mac Mason <[email protected]>
Fixes #1803. Signed-off-by: Wolfgang Hess <[email protected]>
The header ceres_solver_options.h is not used as part of public API anymore. lua_parameter_dictionary_test_helpers.h is only used in tests. Signed-off-by: Wolfgang Hess <[email protected]>
The moved headers are not used in any public API. Signed-off-by: Wolfgang Hess <[email protected]>
Towards #1716. Signed-off-by: Wolfgang Hess <[email protected]>
Ubuntu 16.04 has reached end of standard support. Signed-off-by: Wolfgang Hess <[email protected]>
This moves away from travis-ci.org which no longer works. Signed-off-by: Wolfgang Hess <[email protected]>
This will allow the ROS buildfarm to properly install dependencies when attempting to build this package. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Wolfgang Hess <[email protected]>
Fix the comment (`use_intensites` -> `use_intensities`) Signed-off-by: Takashi Ogura <[email protected]>
Signed-off-by: Wolfgang Hess <[email protected]>
It has reached end-of-life with the end of LTS on June 30, 2022. Signed-off-by: Wolfgang Hess <[email protected]>
Signed-off-by: Linh Nguyen <[email protected]>
Signed-off-by: XiaotaoGuo <[email protected]>
Signed-off-by: Wolfgang Hess <[email protected]>
Signed-off-by: Xùdōng Yáng <[email protected]>
* update rules_boost to latest version (#1898) Signed-off-by: Xùdōng Yáng <[email protected]> Signed-off-by: kscottz <[email protected]> * Add note for ROS users. Signed-off-by: kscottz <[email protected]> * spelling errors. Signed-off-by: kscottz <[email protected]> --------- Signed-off-by: Xùdōng Yáng <[email protected]> Signed-off-by: kscottz <[email protected]> Co-authored-by: Xùdōng Yáng <[email protected]>
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