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‎.gitignore

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build/
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devel/
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build_isolated/
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devel_isolated/
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install_isolated/

‎README.md

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# cartographer 超详细注释代码
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## 1 开源项目简介
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本项目对cartographer进行了逐行的注释，代码是基于2021.04.20日在cartographer官方github上下载的master的代码
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共做了如下工作
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- 在代码中进行了规范, 超详细的注释, 帮助大家更好的理解源码
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- 对cartographer中的关键概念进行了解释与说明
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- 对cartographer中使用的**c++11新标准**语法进行了标注与说明
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- 编写了编译, 保存地图相关的脚本
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- 对2d建图, 3d建图, 纯定位模式进行了launch与lua文件的的配置
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- 对3d的cartographer添加了实时显示三维点云地图与保存地图的功能
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- **配套了逐行讲解源码的视频课程**
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## 2 推荐编译环境
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- ubuntu 16.04/18.04 版本
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- ROS Kinetic/Melodic 版本
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- vscode
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vscode中推荐的插件有:
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- C/C++
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- C++ Intellisense
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- Doxygen Documentation Generator
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- Msg Language Support
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- XML Tools
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- Todo Tree: 注释的高亮显示
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## 3 运行相关命令
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其中的bag文件可以在我的公众号: 从零开始搭SLAM 里找到，在底部菜单栏的数据集链接里
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### 2d建图指令
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`roslaunch cartographer_ros lx_rs16_2d_outdoor.launch`
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### 保存2d轨迹,并生成ros格式的地图
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`./finish_slam_2d.sh`
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### 纯定位模式
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`roslaunch cartographer_ros lx_rs16_2d_outdoor_localization.launch`
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### 3d建图指令
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`roslaunch cartographer_ros lx_rs16_3d.launch`
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### 保存3d轨迹
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`./finish_slam_3d.sh`
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### 使用asset生成ros格式的2d栅格地图
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`roslaunch cartographer_ros assets_writer_2d.launch`
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### 使用asset生成3d点云地图
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`roslaunch cartographer_ros assets_writer_3d.launch`
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### landmark使用示例
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`roslaunch cartographer_ros landmark_mir_100.launch`
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## 4 实时显示三维点云地图与保存地图的功能简述
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显示三维点云地图需要是在建3d轨迹的情况下才可以显示, 点云地图默认发布在 `/point_cloud_map` 话题中.
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默认关闭了保存pcd格式点云的功能, 如需要这个功能, 需要将node.cc文件的第1029行的 `constexpr bool save_pcd = false;` 改成true.
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编译之后在建图结束后通过调用 `/write_state` 服务, 会在生成pbstream文件的同时也对pcd文件进行保存, 保存目录与pbstream文件同一个文件夹.
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个人水平有限, 如果改完的代码有问题请您联系我进行改正.
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![pcd_map](src/cartographer/docs/pcd_map.png)
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## 5 逐行讲解源码的视频课程简介
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### 课程介绍
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Cartographer的代码庞大，逻辑复杂，包含大量的工程细节，对于初学者不太友好，学习理解代码十分困难，需要花费大量时间仍不得要领。
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而企业对激光SLAM从业者的要求越来越高，只会调包调参的人找工作越来越难，只有深入理解激光SLAM原理与代码实现，才具有核心竞争力。
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因此，计算机视觉life推出了源码解析课程《激光SLAM之Cartographer源码解析》，这是目前唯一一个逐行讲解Cartographer源码的课程！
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### 课程大纲
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![大纲](src/cartographer/docs/outline.jpg)
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如果图片刷不出来, 可以点击下方的链接去看更详细的介绍
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[课程的更加详细的介绍请点这里](https://mp.weixin.qq.com/s?__biz=MzIxOTczOTM4NA==&mid=2247536585&idx=1&sn=58c6c3ec4e2fc1a8d88117be7564ae34&chksm=97d4aa5ea0a32348716c3234ce490eff86f37d1b6008280bbf22a30299729e1a43c7a3733946&mpshare=1&scene=1&srcid=01120cyJyNtBlZP9wC3tUoq5&sharer_sharetime=1641970495681&sharer_shareid=e0bf4e1cc54f09628a44697dfe50325e&exportkey=AWd55O3LN11%2Fsc56%2B2CRwCY%3D&acctmode=0&pass_ticket=uLujlwBtSAwv8dNpZkb4fWl9VRpVMyKGcuwTIOQOo5VUyboRc5Dav30xVPim0Esf&wx_header=0#rd)
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### 课程咨询
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如果对这个课程感兴趣的同学可以扫描下方的名片进行课程咨询, 加的时候备注下 carto课程咨询
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![咨询](src/cartographer/docs/zixun.jpg)
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by lixiang

‎catkin_make.sh

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#!/bin/bash
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catkin_make_isolated --install --use-ninja
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#catkin_make_isolated --install --use-ninja -DCMAKE_EXPORT_COMPILE_COMMANDS=Yes
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source install_isolated/setup.bash

‎finish_slam_2d.sh

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#!/bin/bash
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source install_isolated/setup.bash
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map_dir="${HOME}/carto_ws/map"
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map_name="2d-1"
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# 检查文件夹是否存在, 如果不存在就创建文件夹
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if [ ! -d "$map_dir" ];then
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echo "文件夹不存在, 正在创建文件夹"
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mkdir -p $map_dir
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fi
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# finish slam
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rosservice call /finish_trajectory 0
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# make pbstream
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rosservice call /write_state "{filename: '$map_dir/$map_name.pbstream'}"
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# pbstream to map
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rosrun cartographer_ros cartographer_pbstream_to_ros_map \
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-pbstream_filename=$map_dir/$map_name.pbstream \
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-map_filestem=$map_dir/$map_name

‎finish_slam_3d.sh

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#!/bin/bash
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source install_isolated/setup.bash
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map_dir="${HOME}/carto_ws/map"
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map_name="3d-1"
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# 检查文件夹是否存在, 如果不存在就创建文件夹
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if [ ! -d "$map_dir" ];then
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echo "文件夹不存在, 正在创建文件夹"
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mkdir -p $map_dir
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fi
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# finish slam
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rosservice call /finish_trajectory 0
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# make pbstream
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rosservice call /write_state "{filename: '$map_dir/$map_name.pbstream'}"

‎rm_build.sh

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#!/bin/bash
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rm -rf build_isolated devel_isolated install_isolated

‎src/cartographer/.bazelci/presubmit.yml

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---
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platforms:
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ubuntu1604:
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build_targets:
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- "..."
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test_targets:
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- "..."

‎src/cartographer/.bazelrc

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# Copyright 2018 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Do an optimized build by default, or otherwise Cartographer cannot run
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# real-time and certain tests will timeout.
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build -c opt
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# By default, an optimized C++ build with Bazel will build each library twice,
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# with and without -fPIC. --force_pic avoids the unnecessary actions and
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# reduces build time.
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build --force_pic
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‎src/cartographer/.dockerignore

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**/Dockerfile*
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**/.dockerignore
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**/.git
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**/.travis.yml

‎src/cartographer/.gitignore

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build
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bazel-*

‎src/cartographer/.travis.yml

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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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sudo: required
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services: docker
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# Cache intermediate Docker layers. For a description of how this works, see:
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# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
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cache:
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directories:
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- /home/travis/docker/
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env:
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- LSB_RELEASE=xenial DOCKER_CACHE_FILE=/home/travis/docker/xenial-cache.tar.gz CC=gcc CXX=g++
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- LSB_RELEASE=bionic DOCKER_CACHE_FILE=/home/travis/docker/bionic-cache.tar.gz CC=gcc CXX=g++
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- LSB_RELEASE=focal DOCKER_CACHE_FILE=/home/travis/docker/focal-cache.tar.gz CC=gcc CXX=g++
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- LSB_RELEASE=stretch DOCKER_CACHE_FILE=/home/travis/docker/stretch-cache.tar.gz CC=gcc CXX=g++
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- LSB_RELEASE=buster DOCKER_CACHE_FILE=/home/travis/docker/buster-cache.tar.gz CC=gcc CXX=g++
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before_install: scripts/load_docker_cache.sh
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install: true
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script:
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- docker build ${TRAVIS_BUILD_DIR} -t cartographer:${LSB_RELEASE} -f Dockerfile.${LSB_RELEASE}
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--build-arg cc=$CC --build-arg cxx=$CXX
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- scripts/save_docker_cache.sh

‎src/cartographer/AUTHORS

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# This is the list of Cartographer authors for copyright purposes.
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#
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# This does not necessarily list everyone who has contributed code, since in
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# some cases, their employer may be the copyright holder. To see the full list
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# of contributors, see the revision history in source control.
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Google Inc.
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and other contributors

‎src/cartographer/BUILD.bazel

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# Copyright 2018 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Cartographer is a system that provides real-time simultaneous localization
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# and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
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# configurations.
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licenses(["notice"]) # Apache 2.0
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package(default_visibility = ["//visibility:public"])
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exports_files(["LICENSE"])
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filegroup(
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name = "configuration_files",
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srcs = glob([
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"configuration_files/*.lua",
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]),
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)

‎src/cartographer/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package cartographer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.0.0 (2021-03-09)
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------------------
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https://github.com/cartographer-project/cartographer/compare/1.0.0...2.0.0
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1.0.0 (2018-06-01)
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------------------
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https://github.com/googlecartographer/cartographer/compare/0.3.0...1.0.0
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0.3.0 (2017-11-23)
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------------------
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https://github.com/googlecartographer/cartographer/compare/0.2.0...0.3.0
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0.2.0 (2017-06-19)
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------------------
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https://github.com/googlecartographer/cartographer/compare/0.1.0...0.2.0
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0.1.0 (2017-05-18)
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------------------
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* First unstable development release

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