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800 Commits (8816d5710c8529d6e0463b72ff36e194a9227918)

Author SHA1 Message Date
gaschler def442b9db Make MapBuilderServer testable (#771) 
Pass MapBuilder to the constructor so the MapBuilder can be mocked.
 2017-12-18 20:47:00 +01:00
gaschler 5bb81a9b4a correct MapBuilderStub (#770) 
Context: The `::grpc::ClientContext` represents a single RPC on the client side. Therefore it is illegal to share the same context between two different RPC invocations.
 2017-12-18 17:12:29 +01:00
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer (#766) 2017-12-18 16:32:34 +01:00
gaschler db0d5bc746 correct PoseGraphStub (#769) 2017-12-18 15:57:49 +01:00
Christoph Schütte ba7d375a25 Refactor Write()/Finish() and make thread-safe. (#760) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-18 13:36:44 +01:00
gaschler c6decd5b7b Test MapBuilderServer (#762) 
Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
 2017-12-18 11:52:17 +01:00
gaschler 89b49dfefb TrajectoryBuilderStub implementation (#764) 2017-12-18 11:24:16 +01:00
gaschler 3fbc642a89 PopWithTimeout for sensor data queue (#763) 
PopWithTimeout is necessary to ensure the SLAM thread
in the MapBuilderServer finishes when the server is
shut down.
 2017-12-18 10:02:57 +01:00
gaschler d49706944f FixedFramePoseData in gRPC server (#761) 
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
 2017-12-15 15:26:58 +01:00
gaschler 6817d22788 Test global 2D SLAM. (#751) 2017-12-15 14:45:56 +01:00
Christoph Schütte 69f74a11ba Implement EventQueues. (#759) 2017-12-15 12:21:44 +01:00
Christoph Schütte e023ec5ecc In RpcEvent use std::weak_ptr<Rpc> rather than Rpc* (#757) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-14 16:30:01 +01:00
Juraj Oršulić 29e4395a5a Make WaitForAllComputation wait for work queue in 3D as well (#758) 
Repeat the change in #754 by @gaschler for 3D as well.
 2017-12-14 10:02:54 +01:00
gaschler f8452821d7 WaitForAllComputation waits for work queue (#754) 2017-12-13 18:49:22 +01:00
gaschler 59d1b968bc Unwarp by point in LocalTrajectoryBuilder. (#636) 2017-12-13 18:29:42 +01:00
Christoph Schütte e16d1b1207 Heap-allocate RpcEvents. (#756) 
Replace Rpc's RpcEvent members with heap-allocated RpcEvents.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-13 18:01:01 +01:00
Christoph Schütte 69787f288f Introduce skeletons for various stubs. (#752) 
Adds skeletons for

* MapBuilderStub
* PoseGraphStub
* TrajectoryBuilderStub

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-13 15:53:47 +01:00
Christoph Schütte 636f3bbc2f Add slides from 171207. (#753) 2017-12-13 14:51:50 +01:00
Christoph Schütte bf77b11645 Implement gRPC data handlers and SLAM thread. (#749) 2017-12-12 22:36:44 +01:00
Christoph Schütte e596b75113 Add binary for cartographer_grpc_server. (#747) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-11 19:09:52 +01:00
Christoph Schütte c5ec086968 Introduce TimedPointCloudData. (#748) 
This data structure is needed to forward RangeFinderData over gRPC.

[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-08 19:28:47 +01:00
Christoph Schütte 3ae78563c6 Introduce TrajectoryBuilderInterface. (#736) 
[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md)
 2017-12-08 11:52:29 +01:00
Christoph Schütte 96cdbde5bf Introduce PoseGraphInterface. (#744) 
[RFC=0005](https://github.com/googlecartographer/rfcs/blob/master/text/0005-pose-graph-interface.md)
 2017-12-08 11:13:48 +01:00
gaschler 549eef0000 Correct namespace (#742) 2017-12-07 21:17:30 +01:00
gaschler 3b5a72eebc
Script for address sanitizer tests (#745) 2017-12-07 15:26:10 +01:00
Michael Grupp 176fc42c3f Remove empty leftover of pose_estimate.h (#740) 
Follow-up of #670.
 2017-12-07 08:53:04 +01:00
gaschler 5c694adf93 Correct cmake install (#739) 
Simplify how file lists are collected depending on options.
Omits gRPC headers if they were not built.
 2017-12-06 20:34:07 +01:00
Christoph Schütte 2a7a6ef934
Make sensor::Data dispatchable to TrajectoryBuilder. (#738) 
This change allows to dispatch sensor::Data to implementations of mapping::TrajectoryBuilder, i.e. CollatedTrajectoryBuilder. We need this for cartographer_grpc as the incoming sensor data is inserted into a queue by the gRPC threads and dequeued by a SLAM threads that inserts them into a CollatedTrajectoryBuilder.
 2017-12-06 16:36:36 +01:00
gaschler 4c999037b4 Integration tests for local slam. (#734) 2017-12-06 15:58:16 +01:00
Christoph Schütte ded778cd34
Implementation of Add/FinishTrajectoryHandler. (#732) 2017-12-05 16:36:54 +01:00
Christoph Schütte 697be9a77b
Add MappingServer skeleton. (#730) 2017-12-05 14:46:25 +01:00
gaschler 49d55d97c1 Test MapBuilder (#731) 2017-12-05 14:04:10 +01:00
gaschler b77a1f2178
Remove implementation from TrajectoryBuilder. (#728) 
To simplify the implementation of a gRPC-based trajectory builder,
this moves the existing implementation to CollatedTrajectoryBuilder
and organizes the interface by sensor type.
 2017-12-05 11:05:05 +01:00
gaschler ee9c61a736 Move LocalSlamResultCallback to AddTrajectory (#724) 2017-12-04 22:41:38 +01:00
Christoph Schütte 0315acf050
Add Slides for Cartographer open house X (#725) 2017-12-04 20:08:31 +01:00
Christoph Schütte e950062367
Add Cartographer service proto. (#723) 2017-12-04 17:30:42 +01:00
Christoph Schütte 32a8364b98
Implement bi-directional streaming RPCs. (#720) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-12-04 15:28:19 +01:00
gaschler 1ff8243802
Test RotationDeltaCostFunctor (#721) 2017-12-01 09:25:15 +01:00
gaschler 63e901d276
Create AutoDiffCostFunction in cost functions. (#718) 
Creating a ceres::AutoDiffCostFunction requires specifying numbers
of residuals and variables, so it is safer to implement this within
the cost functions, which know best.
 2017-11-30 15:41:57 +01:00
gaschler 85bfb888eb
Interface for MapBuilder (#715) 
Defines an interface for MapBuilder that can be used to implement a gRPC stub.
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-30 14:41:48 +01:00
Christoph Schütte 5147af9763
Implement unary gRPC calls. (#719) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-30 13:18:16 +01:00
gaschler 24f253a2aa Remove GetBlockingTrajectoryId (#714) 2017-11-30 12:04:14 +01:00
Christoph Schütte 999820d845 Implement shared ExecutionContext for handlers. (#716) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-29 14:05:31 +01:00
Christoph Schütte 3a46804393 Implement end-to-end client streaming RPC. (#713) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-29 10:40:26 +01:00
Christoph Schütte 02359a98ae Implement connection establishment and server startup and shutdown. (#712) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-28 10:50:30 +01:00
Jihoon Lee 88805a301d Trim all submaps when pure localization trajectory is finished. (#563) 
Fixes #560 
based on #562
 2017-11-28 10:21:55 +01:00
Juraj Oršulić bebe021b04 Serialize fixed frame pose data. (#689) 
Similar to #666 and #548.
 2017-11-28 09:44:35 +01:00
gaschler 1c7183d5c4 VoxelFilter for TimedPointCloud, Filter method. (#710) 
This makes the VoxelFilter ready for TimedPointCloud and
per-point unwarping.
 2017-11-27 15:12:07 +01:00
gaschler c292d76f86 Test ImuTracker (#711) 
Adds unit tests for ImuTracker to cover filtering of the gravity
vector and tracking angular velocity.
 2017-11-27 14:46:32 +01:00
Christoph Schütte cd289bbcee Introduce RPC class and start wiring up in Service (#701) 
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
 2017-11-24 23:41:58 +01:00