├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── custom.md │ └── feature_request.md ├── 3rdparty └── occmap │ ├── CMakeLists.txt │ ├── data │ ├── gridmap_node.yaml │ ├── info.txt │ └── pointcloud │ │ ├── 637938961186903520.txt │ │ ├── 637938961187867350.txt │ │ ├── 637938961188888400.txt │ │ ├── 637938961189827200.txt │ │ ├── 637938961190821120.txt │ │ ├── 637938961191826540.txt │ │ ├── 637938961192791120.txt │ │ ├── 637938961193751220.txt │ │ ├── 637938961194757060.txt │ │ ├── 637938961195725330.txt │ │ ├── 637938961196693280.txt │ │ ├── 637938961197712860.txt │ │ ├── 637938961198654050.txt │ │ ├── 637938961199649850.txt │ │ ├── 637938961200650850.txt │ │ ├── 637938961201601820.txt │ │ ├── 637938961202567360.txt │ │ ├── 637938961203582100.txt │ │ ├── 637938961204683720.txt │ │ ├── 637938961205685350.txt │ │ ├── 637938961206489580.txt │ │ ├── 637938961207496340.txt │ │ ├── 637938961208500040.txt │ │ ├── 637938961209438100.txt │ │ ├── 637938961210414230.txt │ │ ├── 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637938961843976770.txt │ │ ├── 637938961844695630.txt │ │ ├── 637938961845669770.txt │ │ ├── 637938961846685610.txt │ │ ├── 637938961847625800.txt │ │ ├── 637938961848679840.txt │ │ ├── 637938961849682130.txt │ │ ├── 637938961850543010.txt │ │ ├── 637938961851598010.txt │ │ ├── 637938961852601040.txt │ │ ├── 637938961853501110.txt │ │ ├── 637938961854537300.txt │ │ ├── 637938961855543130.txt │ │ ├── 637938961856424550.txt │ │ ├── 637938961857416460.txt │ │ ├── 637938961858420430.txt │ │ ├── 637938961859356940.txt │ │ ├── 637938961860365770.txt │ │ ├── 637938961861374600.txt │ │ ├── 637938961862320490.txt │ │ ├── 637938961863287470.txt │ │ ├── 637938961864292020.txt │ │ ├── 637938961865251220.txt │ │ ├── 637938961866270410.txt │ │ ├── 637938961867272000.txt │ │ ├── 637938961868238500.txt │ │ ├── 637938961869256830.txt │ │ └── 637938961870258260.txt │ ├── example │ ├── CMakeLists.txt │ └── demo.cpp │ ├── include │ ├── map2d │ │ ├── grid_2d.hpp │ │ ├── grid_inserter_2d.hpp │ │ ├── image.hpp │ │ ├── map_limits.hpp │ │ ├── probability_value.hpp │ │ ├── ray_to_pixel_mask.hpp │ │ ├── submap_2d.hpp │ │ ├── submaps.hpp │ │ ├── value_conversion_tables.hpp │ │ └── xy_index.hpp │ ├── occ_gridmap │ │ ├── common.hpp │ │ ├── grid_mapper.hpp │ │ ├── map_beauti.hpp │ │ ├── param.hpp │ │ ├── proto_io.hpp │ │ ├── rigid_transform.hpp │ │ ├── sensor.hpp │ │ └── tic_toc.hpp │ └── scan_matching │ │ ├── ceres_scan_matching_2d.hpp │ │ ├── occupied_space_cost_function_2d.hpp │ │ ├── rotation_delta_cost_function_2d.hpp │ │ └── translation_delta_cost_functor_2d.hpp │ ├── install.sh │ ├── proto │ ├── CMakeLists.txt │ ├── range_data.proto │ └── transform.proto │ └── src │ ├── ceres_scan_matching_2d.cpp │ ├── grid_2d.cpp │ ├── grid_inserter_2d.cpp │ ├── grid_mapper.cpp │ ├── image.cpp │ ├── map_beauti.cpp │ ├── occupied_space_cost_function_2d.cpp │ ├── probability_value.cpp │ ├── proto_io.cpp │ ├── ray_to_pixel_mask.cpp │ ├── rigid_transform.cpp │ ├── sensor.cpp │ ├── submap_2d.cpp │ └── value_conversion_tables.cpp ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── include └── occ_gridmap │ ├── create_gridmap.hpp │ └── publish_gridmap.hpp ├── launch └── create_gridmap_node.launch.py ├── package.xml ├── param └── gridmap_node.yaml └── src ├── create_gridmap.cpp └── publish_gridmap.cpp /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **To Reproduce** 14 | Steps to reproduce the behavior: 15 | 1. Go to '...' 16 | 2. Click on '....' 17 | 3. Scroll down to '....' 18 | 4. See error 19 | 20 | **Expected behavior** 21 | A clear and concise description of what you expected to happen. 22 | 23 | **Screenshots** 24 | If applicable, add screenshots to help explain your problem. 25 | 26 | **Desktop (please complete the following information):** 27 | - OS: [e.g. iOS] 28 | - Browser [e.g. chrome, safari] 29 | - Version [e.g. 22] 30 | 31 | **Smartphone (please complete the following information):** 32 | - Device: [e.g. iPhone6] 33 | - OS: [e.g. iOS8.1] 34 | - Browser [e.g. stock browser, safari] 35 | - Version [e.g. 22] 36 | 37 | **Additional context** 38 | Add any other context about the problem here. 39 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/custom.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Custom issue template 3 | about: Describe this issue template's purpose here. 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | 11 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea for this project 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Is your feature request related to a problem? Please describe.** 11 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] 12 | 13 | **Describe the solution you'd like** 14 | A clear and concise description of what you want to happen. 15 | 16 | **Describe alternatives you've considered** 17 | A clear and concise description of any alternative solutions or features you've considered. 18 | 19 | **Additional context** 20 | Add any other context or screenshots about the feature request here. 21 | -------------------------------------------------------------------------------- /3rdparty/occmap/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(occmap) 3 | 4 | if(NOT CMAKE_C_STANDARD) 5 | set(CMAKE_C_STANDARD 99) 6 | endif() 7 | 8 | if(NOT CMAKE_CXX_STANDARD) 9 | set(CMAKE_CXX_STANDARD 17) 10 | set(CMAKE_CXX_STANDARD_REQUIRED ON) 11 | endif() 12 | 13 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 14 | add_compile_options(-Wall -Wextra -Wpedantic) 15 | endif() 16 | 17 | set(CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3") 18 | set(CMAKE_BUILD_TYPE "Release") 19 | set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) 20 | set(CMAKE_INSTALL_PREFIX ${PROJECT_SOURCE_DIR}/install) 21 | 22 | find_package(Eigen3 REQUIRED) 23 | find_package(OpenCV 4 REQUIRED) 24 | set(BOOST_COMPONENTS iostreams filesystem) 25 | find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS}) 26 | find_package(yaml-cpp REQUIRED) 27 | find_package(Ceres REQUIRED) 28 | 29 | 30 | include_directories( 31 | include 32 | ${PROJECT_SOURCE_DIR}/include 33 | ${PROJECT_SOURCE_DIR}/common 34 | ${CMAKE_BINARY_DIR} 35 | ${EIGEN3_INCLUDE_DIR} 36 | ${OpenCV_INCLUDE_DIRS} 37 | ${Boost_INCLUDE_DIRS} 38 | ${YAML_CPP_INCLUDE_DIRS} 39 | ${CERES_INCLUDE_DIRS}) 40 | 41 | add_subdirectory(proto) 42 | 43 | add_library(${PROJECT_NAME} src/grid_mapper.cpp 44 | src/sensor.cpp 45 | src/proto_io.cpp 46 | src/rigid_transform.cpp 47 | src/grid_2d.cpp 48 | src/grid_inserter_2d.cpp 49 | src/probability_value.cpp 50 | src/ray_to_pixel_mask.cpp 51 | src/value_conversion_tables.cpp 52 | src/image.cpp 53 | src/occupied_space_cost_function_2d.cpp 54 | src/ceres_scan_matching_2d.cpp 55 | src/submap_2d.cpp 56 | src/map_beauti.cpp) 57 | 58 | target_link_libraries(${PROJECT_NAME} 59 | proto 60 | glog 61 | yaml-cpp 62 | ${Boost_LIBRARIES} 63 | ${CMAKE_THREAD_LIBS_INIT} 64 | ${OpenCV_LIBS} 65 | ${YAML_CPP_LIBRARIES} 66 | ${CERES_LIBRARIES}) 67 | 68 | install(TARGETS 69 | ${PROJECT_NAME} 70 | LIBRARY DESTINATION lib) 71 | 72 | install(DIRECTORY 73 | ${PROJECT_SOURCE_DIR}/include/map2d 74 | ${PROJECT_SOURCE_DIR}/include/occ_gridmap 75 | ${PROJECT_SOURCE_DIR}/include/scan_matching 76 | DESTINATION include) 77 | 78 | install(FILES 79 | ${CMAKE_BINARY_DIR}/proto/transform.pb.h 80 | ${CMAKE_BINARY_DIR}/proto/range_data.pb.h 81 | DESTINATION include/proto) -------------------------------------------------------------------------------- /3rdparty/occmap/data/gridmap_node.yaml: -------------------------------------------------------------------------------- 1 | create_gridmap_node: 2 | create_map_path: /home/hpf/mapping/ 3 | probability_param: 4 | p_free: 0.45 5 | p_occ: 0.65 6 | p_prior: 0.5 7 | laser_to_baselink: 8 | position: 9 | - 0.179 10 | - 0.0 11 | - 0.0837 12 | quaternion: 13 | - 0.0 14 | - 0.0 15 | - 0.0 16 | - 1.0 17 | sub_map: 18 | resolution: 0.05 19 | initx: 50 20 | inity: 50 21 | max_range: 15.0 22 | min_range: 0.2 23 | missing_data_ray_length: 5.0 24 | num_accumulated: 35 25 | sizex: 100 26 | sizey: 100 27 | filter_param: 28 | # motion filter 29 | max_time_seconds: 160 # ms 30 | max_distance_meters: 0.2 # m 31 | max_angle_radians: 0.0175 # rad 32 | # voxel filter 33 | min_num_points: 200 34 | max_length: 0.05 # m 35 | voxel_filter_size: 0.025 36 | ceres_param: 37 | use_nonmonotonic_steps: false 38 | max_num_iterations: 20 39 | num_threads: 1 40 | occupied_space_weight: 10.0 41 | translation_weight: 20.0 42 | rotation_weight: 40.0 43 | mapbeauti: 44 | use_map_beauti: false 45 | side_fill_thresh: 10. 46 | approx_poly_thresh: 3. 47 | dilate_kernel_size: 3 48 | noise_removal_thresh: 2 -------------------------------------------------------------------------------- /3rdparty/occmap/data/pointcloud/637938961417809560.txt: -------------------------------------------------------------------------------- 1 | 2.78863 -6.32122 2 | 2.95398 -6.05596 3 | 2.86 -5.58871 4 | 2.86107 -5.50377 5 | 2.88078 -5.45619 6 | 2.88015 -5.37157 7 | 2.89435 -5.31616 8 | 2.89198 -5.23191 9 | 2.92341 -5.20983 10 | 2.96011 -5.19712 11 | 3.00378 -5.19628 12 | 3.05515 -5.20802 13 | 3.10935 -5.22362 14 | 3.1618 -5.23531 15 | 3.20408 -5.22949 16 | 3.25856 -5.24287 17 | 3.30853 -5.24816 18 | 3.35979 -5.25471 19 | 3.40582 -5.25243 20 | 4.13117 -6.19607 21 | 4.22837 -6.25487 22 | 4.30444 -6.28051 23 | 4.44949 -6.40397 24 | 4.54734 -6.45634 25 | 5.15315 -3.76666 26 | 5.19415 -3.74593 27 | 5.18866 -3.69178 28 | 5.22443 -3.66716 29 | 5.23789 -3.62686 30 | 5.27253 -3.6012 31 | 5.27885 -3.55626 32 | 5.28565 -3.51193 33 | 5.3197 -3.48574 34 | 5.34943 -3.45655 35 | 5.35876 -3.41423 36 | 5.37624 -3.37725 37 | 6.32645 -3.17397 38 | 6.23453 -3.07813 39 | 6.15693 -2.99103 40 | 6.07667 -2.90418 41 | 5.97113 -2.80699 42 | 5.9118 -2.7331 43 | 5.8727 -2.6696 44 | 5.844 -2.61161 45 | 5.8212 -2.55691 46 | 5.82549 -2.5145 47 | 5.85617 -2.48346 48 | 5.85993 -2.44098 49 | 5.89485 -2.41142 50 | 5.56051 -2.1921 51 | 5.58 -2.15868 52 | 5.59368 -2.12297 53 | 5.60245 -2.08543 54 | 5.64009 -2.05849 55 | 5.65125 -2.02172 56 | 5.66783 -1.98688 57 | 5.68798 -1.95321 58 | 5.70225 -1.91745 59 | 5.70679 -1.87847 60 | 5.73391 -1.84686 61 | 5.75323 -1.81257 62 | 5.76565 -1.77606 63 | 6.19849 -1.82297 64 | 6.15812 -1.7684 65 | 5.8619 -1.60252 66 | 5.90101 -1.57274 67 | 5.89062 -1.52971 68 | 5.93905 -1.50184 69 | 5.94174 -1.46217 70 | 5.96847 -1.42835 71 | 5.98137 -1.39108 72 | 6.00087 -1.35524 73 | 6.0182 -1.31879 74 | 6.12664 -1.26069 75 | 6.02375 -1.19944 76 | 5.92425 -1.14031 77 | 5.91766 -1.09986 78 | 5.95114 -1.06678 79 | 5.94996 -1.02736 80 | 5.99685 -0.996021 81 | 6.00112 -0.957355 82 | 6.02688 -0.922002 83 | 6.04749 -0.885634 84 | 6.00054 -0.839617 85 | 5.93442 -0.791725 86 | 5.88083 -0.746348 87 | 5.814 -0.700136 88 | 5.75675 -0.655941 89 | 5.71509 -0.614216 90 | 5.74278 -0.580085 91 | 5.77723 -0.546285 92 | 5.8085 -0.511805 93 | 5.83058 -0.476214 94 | 5.84847 -0.440062 95 | 5.8771 -0.404456 96 | 5.90951 -0.368751 97 | 5.94669 -0.332927 98 | 5.97366 -0.296148 99 | 6.00141 -0.259081 100 | 6.38106 -0.193786 101 | 6.43315 -0.154217 102 | 6.43601 -0.11313 103 | 6.4636 -0.072292 104 | 6.61499 0.0105818 105 | 7.29824 0.104981 106 | 7.23644 0.15036 107 | 7.23533 0.196611 108 | 6.76673 0.313812 109 | 6.70467 0.353895 110 | 6.65036 0.39367 111 | 6.58784 0.432241 112 | 6.5211 0.469742 113 | 6.45616 0.506565 114 | 6.44781 0.547398 115 | 6.47704 0.591601 116 | 6.51094 0.636688 117 | 6.54354 0.682127 118 | 6.58278 0.72878 119 | 6.62169 0.775962 120 | 6.65927 0.823548 121 | 7.487 2.02112 122 | 0.903796 1.89888 123 | 0.883584 1.88741 124 | 0.83097 1.86746 125 | 0.769521 1.79065 126 | 0.744835 1.76421 127 | 0.712859 1.71906 128 | 0.668291 1.64115 129 | 0.656673 1.6426 130 | 0.646161 1.64677 131 | 0.634184 1.64713 132 | 0.619403 1.63992 133 | 0.607172 1.63916 134 | 0.594975 1.63831 135 | 0.587174 1.64961 136 | 0.574971 1.64861 137 | 0.563129 1.64847 138 | 0.550043 1.64445 139 | 0.551655 1.68499 140 | 0.550331 1.71801 141 | 0.538142 1.71767 142 | 0.525688 1.7163 143 | 0.517288 1.72824 144 | 0.508475 1.73919 145 | 0.505034 1.76933 146 | 0.498812 1.79083 147 | 0.488928 1.79977 148 | 0.476134 1.79803 149 | 0.464382 1.80006 150 | 0.453354 1.80494 151 | 0.442046 1.80877 152 | 0.429319 1.80669 153 | 0.414388 1.79478 154 | 0.424772 1.95335 155 | 0.22936 1.16157 156 | 0.219307 1.14926 157 | 0.206703 1.12212 158 | 0.19428 1.09388 159 | 0.18425 1.07736 160 | 0.175575 1.06766 161 | 0.1636 1.03616 162 | 0.156226 1.03224 163 | 0.146328 1.01046 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1.07696 95 | 4.30493 1.10709 96 | 4.31035 1.13782 97 | 4.30012 1.16448 98 | 4.29261 1.19185 99 | 4.28493 1.21918 100 | 4.28859 1.24982 101 | 4.28054 1.27712 102 | 4.27327 1.30467 103 | 4.26965 1.33336 104 | 4.66489 1.52231 105 | 4.67881 1.55991 106 | 4.33835 1.5081 107 | 4.25608 1.50997 108 | 4.25672 1.54081 109 | 4.23743 1.56444 110 | 4.2358 1.59458 111 | 4.24516 1.62906 112 | 4.22165 1.65098 113 | 4.23148 1.68599 114 | 4.22158 1.7133 115 | 4.21335 1.74131 116 | 4.21231 1.77239 117 | 4.21655 1.80589 118 | 4.22238 1.84032 119 | 4.21605 1.86962 120 | 4.29459 1.97032 121 | 4.11463 1.95161 122 | 4.03275 1.94435 123 | 4.00142 1.96077 124 | 3.99869 1.99113 125 | 4.00376 2.0256 126 | 3.98649 2.08109 127 | 3.98905 2.11488 128 | 3.98283 2.17706 129 | 3.93385 2.21586 130 | 3.87798 2.21706 131 | 3.75117 2.20846 132 | 3.68167 2.23121 133 | 3.64438 2.24049 134 | 3.58421 2.23509 135 | 3.56397 2.25415 136 | 3.55964 2.28329 137 | 3.56849 2.32119 138 | 3.55613 2.34554 139 | 3.56272 2.3826 140 | 3.5665 2.41817 141 | 3.55514 2.44368 142 | 3.57068 2.48801 143 | 3.56945 2.52109 144 | 3.56551 2.55252 145 | 3.57426 2.59339 146 | 3.57942 2.63211 147 | 3.56818 2.65905 148 | 3.57431 2.69921 149 | 3.5753 2.73591 150 | 3.84761 3.02281 151 | 3.84235 3.05847 152 | 3.83524 3.09294 153 | 3.84797 3.14389 154 | 4.41371 3.70091 155 | 4.41824 3.75291 156 | 4.41774 3.80121 157 | 4.40699 3.84111 158 | 4.40192 3.88632 159 | 3.95477 3.58227 160 | 3.89502 3.5736 161 | 3.84946 3.57724 162 | 3.7778 3.55578 163 | 3.75796 3.58254 164 | 3.6498 3.56931 165 | 3.59714 3.56294 166 | 3.55036 3.56171 167 | 3.51707 3.57357 168 | 3.50259 3.60452 169 | 3.49824 3.64625 170 | 3.50382 3.69896 171 | 3.50067 3.74312 172 | 3.49438 3.78445 173 | 3.49849 3.83768 174 | 3.4947 3.88294 175 | 3.4938 3.93204 176 | 4.46029 5.21731 177 | 4.39793 5.21124 178 | 4.37359 5.24991 179 | 4.3328 5.33783 180 | 4.42915 6.22881 181 | 3.67207 5.23442 182 | 3.71432 5.36708 183 | 3.56897 5.22794 184 | 3.48476 5.17509 185 | 3.47329 5.22968 186 | 3.46017 5.28266 187 | 3.42209 5.29788 188 | 3.3888 5.32042 189 | 3.23596 5.22629 190 | 3.31087 5.50275 191 | 3.26554 5.50653 192 | 3.70282 7.03842 193 | 3.64318 7.03346 194 | 3.54172 7.16996 195 | -------------------------------------------------------------------------------- /3rdparty/occmap/example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.8) 2 | project(example) 3 | 4 | set(CMAKE_CXX_FLAGS "-std=c++14 -march=native -O3") 5 | set(CMAKE_BUILD_TYPE "Release") 6 | 7 | find_package(Eigen3 REQUIRED) 8 | find_package(yaml-cpp REQUIRED) 9 | find_package(OpenCV REQUIRED) 10 | set(BOOST_COMPONENTS iostreams filesystem) 11 | find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS}) 12 | find_package(Ceres REQUIRED) 13 | find_package(Protobuf REQUIRED) 14 | 15 | include_directories( 16 | ${EIGEN3_INCLUDE_DIR} 17 | ${YAML_CPP_INCLUDE_DIRS} 18 | ${OPENCV_INCLUDE_DIRS} 19 | ${CMAKE_SOURCE_DIR}/../install/include 20 | ${CMAKE_BINARY_DIR} 21 | ${Boost_INCLUDE_DIRS} 22 | ${CERES_INCLUDE_DIRS} 23 | ) 24 | 25 | add_executable(demo demo.cpp) 26 | target_link_libraries(demo 27 | glog 28 | ${YAML_CPP_LIBRARIES} 29 | ${OpenCV_LIBS} 30 | ${CMAKE_SOURCE_DIR}/../install/lib/liboccmap.a 31 | ${CMAKE_SOURCE_DIR}/../install/lib/libproto.a 32 | ${Boost_LIBRARIES} 33 | ${CMAKE_THREAD_LIBS_INIT} 34 | ${CERES_LIBRARIES} 35 | ${Protobuf_LIBRARIES} 36 | ) -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/grid_inserter_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License.. 14 | 15 | #ifndef MAP2D__GRID_INSERTER_2D_HPP_ 16 | #define MAP2D__GRID_INSERTER_2D_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include "occ_gridmap/sensor.hpp" 22 | #include "map2d/xy_index.hpp" 23 | #include "map2d/probability_value.hpp" 24 | #include "map2d/grid_2d.hpp" 25 | #include "map2d/ray_to_pixel_mask.hpp" 26 | 27 | namespace mapping 28 | { 29 | 30 | class GridInserter2D 31 | { 32 | public: 33 | GridInserter2D(); 34 | GridInserter2D(const GridInserter2D &) = delete; 35 | GridInserter2D & operator=(const GridInserter2D &) = delete; 36 | 37 | // Inserts 'range_data' into 'grid_2d'. 38 | void Insert( 39 | const sensor::RangeDataCarto & range_data, 40 | Grid2D * const grid) const; 41 | 42 | private: 43 | const std::vector hit_table_; 44 | const std::vector miss_table_; 45 | }; // class 46 | 47 | } // namespace mapping 48 | 49 | #endif // MAP2D__GRID_INSERTER_2D_HPP_ 50 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/image.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__IMAGE_HPP_ 16 | #define MAP2D__IMAGE_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | 28 | namespace io 29 | { 30 | 31 | // An Implementation of file using std::ofstream. 32 | class StreamFileWriter 33 | { 34 | public: 35 | ~StreamFileWriter(); 36 | 37 | explicit StreamFileWriter(const std::string & filename); 38 | 39 | bool Write(const char * data, size_t len); 40 | bool WriteHeader(const char * data, size_t len); 41 | bool Close(); 42 | std::string GetFilename(); 43 | 44 | private: 45 | const std::string filename_; 46 | std::ofstream out_; 47 | }; 48 | 49 | class Image 50 | { 51 | public: 52 | Image(int width, int height); 53 | 54 | uint8_t GetPixel(int x, int y) const; 55 | 56 | const std::vector & pixel_data() const {return pixels_;} 57 | 58 | void SetPixel(int x, int y, const uint8_t & color); 59 | 60 | void Rotate90DegreeClockWise(); 61 | 62 | void Rotate90LeftDegree(); 63 | 64 | int width() const {return width_;} 65 | 66 | int height() const {return height_;} 67 | 68 | void WritePgm(const double resolution, StreamFileWriter * const file_writer); 69 | 70 | void SetPixelData(const std::vector & pixels_data) {pixels_ = pixels_data;} 71 | 72 | private: 73 | int width_; 74 | int height_; 75 | std::vector pixels_; 76 | }; // class Image 77 | 78 | 79 | } // namespace io 80 | #endif // MAP2D__IMAGE_HPP_ 81 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/map_limits.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__MAP_LIMITS_HPP_ 16 | #define MAP2D__MAP_LIMITS_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | 24 | #include "map2d/xy_index.hpp" 25 | #include "occ_gridmap/rigid_transform.hpp" 26 | #include "occ_gridmap/common.hpp" 27 | 28 | namespace mapping 29 | { 30 | 31 | // Defines the limits of a grid map. This class must remain inlined for 32 | // performance reasons. 33 | class MapLimits 34 | { 35 | public: 36 | MapLimits( 37 | const double resolution, const Eigen::Vector2d & max, 38 | const CellLimits & cell_limits) 39 | : resolution_(resolution), max_(max), cell_limits_(cell_limits) 40 | { 41 | CHECK_GT(resolution_, 0.); 42 | CHECK_GT(cell_limits.num_x_cells, 0.); 43 | CHECK_GT(cell_limits.num_y_cells, 0.); 44 | } 45 | 46 | // Returns the cell size in meters. All cells are square and the resolution is 47 | // the length of one side. 48 | double resolution() const {return resolution_;} 49 | 50 | // Returns the corner of the limits, i.e., all pixels have positions with 51 | // smaller coordinates. 52 | const Eigen::Vector2d & max() const {return max_;} 53 | 54 | // Returns the limits of the grid in number of cells. 55 | const CellLimits & cell_limits() const {return cell_limits_;} 56 | 57 | // Returns the index of the cell containing the 'point' which may be outside 58 | // the map, i.e., negative or too large indices that will return false for 59 | // Contains(). 60 | Eigen::Array2i GetCellIndex(const Eigen::Vector2f & point) const 61 | { 62 | // Index values are row major and the top left has Eigen::Array2i::Zero() 63 | // and contains (centered_max_x, centered_max_y). We need to flip and 64 | // rotate. 65 | return Eigen::Array2i( 66 | common::RoundToInt((max_.y() - point.y()) / resolution_ - 0.5), 67 | common::RoundToInt((max_.x() - point.x()) / resolution_ - 0.5)); 68 | } 69 | 70 | // Returns the center of the cell at 'cell_index'. 71 | Eigen::Vector2f GetCellCenter(const Eigen::Array2i cell_index) const 72 | { 73 | return {max_.x() - resolution() * (cell_index[1] + 0.5), 74 | max_.y() - resolution() * (cell_index[0] + 0.5)}; 75 | } 76 | 77 | // Returns true if the Grid2D contains 'cell_index'. 78 | bool Contains(const Eigen::Array2i & cell_index) const 79 | { 80 | return (Eigen::Array2i(0, 0) <= cell_index).all() && 81 | (cell_index < 82 | Eigen::Array2i(cell_limits_.num_x_cells, cell_limits_.num_y_cells)) 83 | .all(); 84 | } 85 | 86 | private: 87 | double resolution_; 88 | Eigen::Vector2d max_; 89 | CellLimits cell_limits_; 90 | }; // class MapLimits 91 | 92 | } // namespace mapping 93 | 94 | #endif // MAP2D__MAP_LIMITS_HPP_ 95 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/ray_to_pixel_mask.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__RAY_TO_PIXEL_MASK_HPP_ 16 | #define MAP2D__RAY_TO_PIXEL_MASK_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | 22 | #include 23 | 24 | namespace mapping 25 | { 26 | 27 | // Compute all pixels that contain some part of the line segment connecting 28 | // 'scaled_begin' and 'scaled_end'. 'scaled_begin' and 'scaled_end' are scaled 29 | // by 'subpixel_scale'. 'scaled_begin' and 'scaled_end' are expected to be 30 | // greater than zero. Return values are in pixels and not scaled. 31 | std::vector RayToPixelMask( 32 | const Eigen::Array2i & scaled_begin, 33 | const Eigen::Array2i & scaled_end, 34 | int subpixel_scale); 35 | 36 | } // namespace mapping 37 | 38 | #endif // MAP2D__RAY_TO_PIXEL_MASK_HPP_ 39 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/submap_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__SUBMAP_2D_HPP_ 16 | #define MAP2D__SUBMAP_2D_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | #include 22 | 23 | #include "occ_gridmap/param.hpp" 24 | #include "occ_gridmap/sensor.hpp" 25 | #include "grid_2d.hpp" 26 | #include "grid_inserter_2d.hpp" 27 | #include "submaps.hpp" 28 | #include "value_conversion_tables.hpp" 29 | 30 | namespace mapping 31 | { 32 | 33 | class Submap2D : public Submap 34 | { 35 | public: 36 | Submap2D( 37 | const Eigen::Vector2f & origin, std::unique_ptr grid, 38 | ValueConversionTables * conversion_tables); 39 | 40 | const Grid2D * grid() const {return m_grid.get();} 41 | 42 | // Insert 'range_data' into this submap using 'range_data_inserter'. The 43 | // submap must not be finished yet. 44 | void InsertRangeData( 45 | const sensor::RangeDataCarto & range_data_carto, 46 | const GridInserter2D * grid2d_inserter); 47 | void Finish(); 48 | 49 | private: 50 | std::unique_ptr m_grid; 51 | ValueConversionTables * m_conversion_tables; 52 | }; 53 | 54 | // The first active submap will be created on the insertion of the first range 55 | // data. Except during this initialization when no or only one single submap 56 | // exists, there are always two submaps into which range data is inserted: an 57 | // old submap that is used for matching, and a new one, which will be used for 58 | // matching next, that is being initialized. 59 | // 60 | // Once a certain number of range data have been inserted, the new submap is 61 | // considered initialized: the old submap is no longer changed, the "new" submap 62 | // is now the "old" submap and is used for scan-to-map matching. Moreover, a 63 | // "new" submap gets created. The "old" submap is forgotten by this object. 64 | class ActiveSubmaps2D 65 | { 66 | public: 67 | explicit ActiveSubmaps2D(const SubMapParam & param) 68 | : m_param(param), m_grid_inserter_2d(CreateGridInserter2D()) {} 69 | ActiveSubmaps2D(const ActiveSubmaps2D &) = delete; 70 | ActiveSubmaps2D & operator=(const ActiveSubmaps2D) = delete; 71 | 72 | bool Initialize(); 73 | 74 | // Inserts 'range_data' into the Submap collection. 75 | std::vector> InsertRangeData( 76 | const sensor::RangeDataCarto & range_data); 77 | 78 | std::vector> submaps() const; 79 | 80 | private: 81 | std::unique_ptr CreateGridInserter2D() 82 | { 83 | return std::make_unique(); 84 | } 85 | 86 | std::unique_ptr CreateGrid(const Eigen::Vector2f & origin); 87 | void FinishSubmap(); 88 | void AddSubmap(const Eigen::Vector2f & origin); 89 | 90 | SubMapParam m_param; 91 | std::vector> m_submaps; 92 | std::unique_ptr m_grid_inserter_2d; 93 | ValueConversionTables m_conversion_tables; 94 | }; // class ActiveSubmaps2D 95 | 96 | } // namespace mapping 97 | 98 | #endif // MAP2D__SUBMAP_2D_HPP_ 99 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/submaps.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__SUBMAPS_HPP_ 16 | #define MAP2D__SUBMAPS_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | 22 | #include "occ_gridmap/rigid_transform.hpp" 23 | 24 | namespace mapping 25 | { 26 | 27 | // An individual submap, which has a 'local_pose' in the local map frame, keeps 28 | // track of how many range data were inserted into it, and sets 29 | // 'insertion_finished' when the map no longer changes and is ready for loop 30 | // closing. 31 | class Submap 32 | { 33 | public: 34 | explicit Submap(const transform::Rigid3d & local_submap_pose) 35 | : m_local_pose(local_submap_pose) {} 36 | virtual ~Submap() {} 37 | 38 | // Pose of this submap in the local map frame. 39 | transform::Rigid3d local_pose() const {return m_local_pose;} 40 | 41 | // Number of RangeData inserted. 42 | int num_range_data() const {return m_num_range_data;} 43 | void set_num_range_data(const int num_range_data) 44 | { 45 | m_num_range_data = num_range_data; 46 | } 47 | 48 | bool insertion_finished() const {return m_insertion_finished;} 49 | void set_insertion_finished(bool insertion_finished) 50 | { 51 | m_insertion_finished = insertion_finished; 52 | } 53 | 54 | private: 55 | const transform::Rigid3d m_local_pose; 56 | int m_num_range_data = 0; 57 | bool m_insertion_finished = false; 58 | }; // class Submap 59 | } // namespace mapping 60 | 61 | #endif // MAP2D__SUBMAPS_HPP_ 62 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/value_conversion_tables.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__VALUE_CONVERSION_TABLES_HPP_ 16 | #define MAP2D__VALUE_CONVERSION_TABLES_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | #include 22 | 23 | namespace mapping 24 | { 25 | 26 | // Performs lazy computations of lookup tables for mapping from a uint16 value 27 | // to a float in ['lower_bound', 'upper_bound']. The first element of the table 28 | // is set to 'unknown_result'. 29 | class ValueConversionTables 30 | { 31 | public: 32 | const std::vector * GetConversionTable( 33 | float unknown_result, 34 | float lowe_bound, 35 | float upper_bound); 36 | 37 | private: 38 | std::map, 39 | std::unique_ptr>> 40 | bounds_to_lookup_table_; 41 | }; // calss ValueConversionTables 42 | 43 | } // namespace mapping 44 | 45 | #endif // MAP2D__VALUE_CONVERSION_TABLES_HPP_ 46 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/map2d/xy_index.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef MAP2D__XY_INDEX_HPP_ 16 | #define MAP2D__XY_INDEX_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | #include 24 | #include 25 | 26 | namespace mapping 27 | { 28 | 29 | struct CellLimits 30 | { 31 | CellLimits() = default; 32 | CellLimits(int init_num_x_cells, int init_num_y_cells) 33 | : num_x_cells(init_num_x_cells), num_y_cells(init_num_y_cells) {} 34 | 35 | int num_x_cells = 0; 36 | int num_y_cells = 0; 37 | }; 38 | 39 | // Iterates in row-major order through a range of xy-indices. 40 | class XYIndexRangeIterator 41 | : public std::iterator 42 | { 43 | public: 44 | // Constructs a new iterator for the specified range. 45 | XYIndexRangeIterator( 46 | const Eigen::Array2i & min_xy_index, 47 | const Eigen::Array2i & max_xy_index) 48 | : min_xy_index_(min_xy_index), max_xy_index_(max_xy_index), xy_index_(min_xy_index) {} 49 | 50 | // Constructs a new iterator for everything contained in 'cell_limits'. 51 | explicit XYIndexRangeIterator(const CellLimits & cell_limits) 52 | : XYIndexRangeIterator( 53 | Eigen::Array2i::Zero(), 54 | Eigen::Array2i( 55 | cell_limits.num_x_cells - 1, 56 | cell_limits.num_y_cells - 1)) {} 57 | 58 | XYIndexRangeIterator & operator++() 59 | { 60 | DCHECK(*this != end()); 61 | if (xy_index_.x() < max_xy_index_.x()) { 62 | ++xy_index_.x(); 63 | } else { 64 | xy_index_.x() = min_xy_index_.x(); 65 | ++xy_index_.y(); 66 | } 67 | return *this; 68 | } 69 | 70 | Eigen::Array2i & operator*() {return xy_index_;} 71 | 72 | bool operator==(const XYIndexRangeIterator & other) const 73 | { 74 | return (xy_index_ == other.xy_index_).all(); 75 | } 76 | 77 | bool operator!=(const XYIndexRangeIterator & other) const 78 | { 79 | return !operator==(other); 80 | } 81 | 82 | XYIndexRangeIterator begin() 83 | { 84 | return XYIndexRangeIterator(min_xy_index_, max_xy_index_); 85 | } 86 | 87 | XYIndexRangeIterator end() 88 | { 89 | XYIndexRangeIterator it = begin(); 90 | it.xy_index_ = Eigen::Array2i(min_xy_index_.x(), max_xy_index_.y() + 1); 91 | return it; 92 | } 93 | 94 | private: 95 | Eigen::Array2i min_xy_index_; 96 | Eigen::Array2i max_xy_index_; 97 | Eigen::Array2i xy_index_; 98 | }; // class XYIndexRangeIterator 99 | 100 | } // namespace mapping 101 | 102 | #endif // MAP2D__XY_INDEX_HPP_ 103 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/common.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef OCC_GRIDMAP__COMMON_HPP_ 16 | #define OCC_GRIDMAP__COMMON_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | #include 22 | 23 | #include 24 | 25 | #include 26 | #include 27 | #include 28 | #include 29 | #include 30 | 31 | namespace common 32 | { 33 | 34 | class TicToc 35 | { 36 | public: 37 | TicToc() 38 | { 39 | tic(); 40 | } 41 | 42 | void tic() 43 | { 44 | start_ = std::chrono::steady_clock::now(); 45 | } 46 | 47 | double toc() 48 | { 49 | end_ = std::chrono::steady_clock::now(); 50 | return std::chrono::duration(end_ - start_).count(); // ms 51 | } 52 | 53 | private: 54 | std::chrono::time_point start_, end_; 55 | }; // class TicToc 56 | 57 | inline int RoundToInt(const double x) {return std::lround(x);} 58 | 59 | inline int RoundToInt(const float x) {return std::lround(x);} 60 | 61 | inline int64_t RoundToInt64(const double x) {return std::lround(x);} 62 | 63 | inline int64_t RoundToInt64(const float x) {return std::lround(x);} 64 | 65 | inline bool createFolder(const std::string & path) 66 | { 67 | return boost::filesystem::create_directories(path); 68 | } 69 | 70 | inline void GetFileNames( 71 | std::vector & filenames, 72 | const std::string & path) 73 | { 74 | struct dirent * entry; 75 | DIR * dir = opendir(path.c_str()); 76 | if (dir == NULL) { 77 | return; 78 | } 79 | while ((entry = readdir(dir)) != NULL) { 80 | std::string str(entry->d_name); 81 | if (str.size() < 8) {continue;} 82 | filenames.emplace_back(str); 83 | } 84 | closedir(dir); 85 | } 86 | 87 | template 88 | T Clamp(const T value, const T min, const T max) 89 | { 90 | if (value > max) { 91 | return max; 92 | } 93 | if (value < min) { 94 | return min; 95 | } 96 | return value; 97 | } 98 | 99 | inline 100 | void WritePointCloudTxt( 101 | const Eigen::Vector2d & point, 102 | const Eigen::Vector2d & origin, 103 | const std::string & file_path) 104 | { 105 | std::ofstream outfile(file_path.data(), std::ios::app); 106 | outfile << point.x() << " " << 107 | point.y() << " " << 108 | origin.x() << " " << 109 | origin.y() << "\n"; 110 | outfile.close(); 111 | } 112 | 113 | constexpr int64_t kUtsEpochOffsetFromUnixEpochInSeconds = 114 | (719162ll * 24ll * 60ll * 60ll); 115 | 116 | struct UniversalTimeScaleClock 117 | { 118 | using rep = int64_t; 119 | using period = std::ratio<1, 10000000>; 120 | using duration = std::chrono::duration; 121 | using time_point = std::chrono::time_point; 122 | static constexpr bool is_steady = true; 123 | }; 124 | 125 | using Duration = UniversalTimeScaleClock::duration; 126 | using Time = UniversalTimeScaleClock::time_point; 127 | 128 | static inline Duration FromSeconds(double seconds) 129 | { 130 | return std::chrono::duration_cast( 131 | std::chrono::duration(seconds)); 132 | } 133 | 134 | static inline Time FromUniversal(int64_t ticks) 135 | { 136 | return Time(Duration(ticks)); 137 | } 138 | 139 | static inline int64_t ToUniversal(Time time) 140 | { 141 | return time.time_since_epoch().count(); 142 | } 143 | 144 | } // namespace common 145 | #endif // OCC_GRIDMAP__COMMON_HPP_ 146 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/map_beauti.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef OCC_GRIDMAP__MAP_BEAUTI_HPP_ 16 | #define OCC_GRIDMAP__MAP_BEAUTI_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | 23 | #include 24 | 25 | #include "occ_gridmap/param.hpp" 26 | 27 | class MapBeauti 28 | { 29 | public: 30 | explicit MapBeauti(const MapBeautiParam & mapbeauti_param); 31 | ~MapBeauti(); 32 | 33 | std::vector process( 34 | const std::vector & image, const int width, 35 | const int height); 36 | std::vector FinalProcess( 37 | const std::vector & image, const int width, 38 | const int height); 39 | 40 | private: 41 | bool processImg(const cv::Mat & probability_img, cv::Mat & approx_img); 42 | 43 | cv::Mat LineOptimation(const cv::Mat & probability_img); 44 | 45 | // poly optimation 46 | 47 | void ProbabilityToBinImage( 48 | const cv::Mat & probability_img, cv::Mat & bin_img, 49 | cv::Mat & approx_img); 50 | 51 | void ImageDilate(cv::Mat & input, cv::Mat & output, const int & kernelSize, int & freegrid_num); 52 | 53 | bool DetectPolyDP(const cv::Mat & bin_img, std::vector> & approx_contours); 54 | 55 | void FillSideHoles(const std::vector & approx_contour, cv::Mat & approx_img); 56 | 57 | void FillInternal( 58 | const std::vector & approx_contour, const cv::Mat & probability_img, 59 | cv::Mat & approx_img, cv::Mat & insidebin_img, int & contourpixel_num, 60 | int & insidepixel_num); 61 | 62 | // line optimation 63 | 64 | std::vector LineDetect(const cv::Mat & map_image); 65 | 66 | void FitPixelToLine(const std::vector & lines, cv::Mat & image); 67 | 68 | // processNoise 69 | 70 | void processNoisePixel(cv::Mat & map_image); 71 | 72 | // inside 73 | 74 | void processInside( 75 | const cv::Mat & probability_img, const cv::Mat & insidebin_img, 76 | cv::Mat & approx_img, const cv::Mat & approxbin_img); 77 | 78 | private: 79 | MapBeautiParam mapbeauti_param_; 80 | size_t last_PolyDPSize_ = 0; 81 | std::vector origin_image_; 82 | float contour_scale_ = 0.f; 83 | }; // class MapBeauti 84 | 85 | #endif // OCC_GRIDMAP__MAP_BEAUTI_HPP_ 86 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/param.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License.. 14 | 15 | #ifndef OCC_GRIDMAP__PARAM_HPP_ 16 | #define OCC_GRIDMAP__PARAM_HPP_ 17 | 18 | #include 19 | 20 | struct FilesSaveParam 21 | { 22 | // from command line 23 | std::string create_map_path; // map.pgm path 24 | std::string sub_range_data_path; // .pbstream path 25 | std::string loop_pose_path; // mivins_trajectory.txt path 26 | }; 27 | 28 | struct ProbabilityParam 29 | { 30 | ProbabilityParam() = default; 31 | double p_occ = 0.65; 32 | double p_free = 0.196; 33 | double p_prior = 0.5; 34 | }; 35 | 36 | struct SubMapParam 37 | { 38 | SubMapParam() = default; 39 | int num_accumulated = 35; // nums laser frame accumulated 40 | int sizex = 100; 41 | int sizey = 100; 42 | int initx = 50; 43 | int inity = 50; 44 | int max_range = 12.0; 45 | int min_range = 0.01; 46 | double resolution = 0.05; 47 | double missing_data_ray_length = 6.0; 48 | }; 49 | 50 | struct FilterParam 51 | { 52 | FilterParam() = default; 53 | // motion filter 54 | int max_time_seconds = 160; // ms 55 | double max_distance_meters = 0.2; 56 | double max_angle_radians = 0.0175; 57 | // voxel filter 58 | int min_num_points = 100; 59 | double max_length = 1.0; 60 | double voxel_filter_size = 0.025; 61 | }; 62 | 63 | struct CeresScanMatchingParam 64 | { 65 | bool use_nonmonotonic_steps; 66 | int max_num_iterations; 67 | int num_threads; 68 | double occupied_space_weight; 69 | double translation_weight; 70 | double rotation_weight; 71 | }; 72 | 73 | struct RealTimeCorrelativeScanMatcherParam 74 | { 75 | double linear_search_window; 76 | double angular_search_window; 77 | double translation_delta_cost_weight; 78 | double rotation_delta_cost_weight; 79 | }; 80 | 81 | struct MapBeautiParam 82 | { 83 | bool useMapBeauti; 84 | double sideFillThresh; 85 | double approxPolythresh; 86 | int dilateKernelSize; 87 | int noiseRemovalThresh; 88 | }; 89 | 90 | typedef enum 91 | { 92 | HANG_MODEL, 93 | CREATE_MAP_MODEL, 94 | START_NAV_MODEL 95 | } GridMapStatus; 96 | 97 | #endif // OCC_GRIDMAP__PARAM_HPP_ 98 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/proto_io.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef OCC_GRIDMAP__PROTO_IO_HPP_ 16 | #define OCC_GRIDMAP__PROTO_IO_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | #include 23 | #include 24 | 25 | #include "google/protobuf/message.h" 26 | 27 | namespace io 28 | { 29 | 30 | class ProtoStreamWriter 31 | { 32 | public: 33 | explicit ProtoStreamWriter(const std::string & filename); 34 | ~ProtoStreamWriter() = default; 35 | 36 | ProtoStreamWriter(const ProtoStreamWriter &) = delete; 37 | ProtoStreamWriter & operator=(const ProtoStreamWriter &) = delete; 38 | 39 | void WriteProto(const google::protobuf::Message & proto); 40 | 41 | bool Close(); 42 | 43 | private: 44 | void Write(const std::string & uncompressed_data); 45 | 46 | private: 47 | std::ofstream out_; 48 | }; // class ProtoStreamWriter 49 | 50 | class ProtoStreamReader 51 | { 52 | public: 53 | explicit ProtoStreamReader(const std::string & filename); 54 | ~ProtoStreamReader() = default; 55 | 56 | ProtoStreamReader(const ProtoStreamReader &) = delete; 57 | ProtoStreamReader & operator=(const ProtoStreamReader &) = delete; 58 | 59 | bool ReadProto(google::protobuf::Message * proto); 60 | bool eof() const; 61 | 62 | private: 63 | bool Read(std::string * decompressed_data); 64 | 65 | private: 66 | std::ifstream in_; 67 | }; // class ProtoStreamReader 68 | 69 | } // namespace io 70 | 71 | #endif // OCC_GRIDMAP__PROTO_IO_HPP_ 72 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/sensor.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef OCC_GRIDMAP__SENSOR_HPP_ 16 | #define OCC_GRIDMAP__SENSOR_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | 24 | #include "occ_gridmap/rigid_transform.hpp" 25 | #include "occ_gridmap/param.hpp" 26 | #include "occ_gridmap/common.hpp" 27 | 28 | #include "proto/range_data.pb.h" 29 | #include "proto/transform.pb.h" 30 | 31 | namespace sensor 32 | { 33 | 34 | struct PointCloud 35 | { 36 | public: 37 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 38 | std::vector returns_points; 39 | transform::Rigid2d local_pose; 40 | int64_t time_stamp; 41 | 42 | size_t Size() const {return returns_points.size();} 43 | }; 44 | 45 | struct RangeData 46 | { 47 | RangeData(); 48 | RangeData( 49 | const int64_t & time_stamp_, 50 | const transform::Rigid2d & submap_pose); 51 | explicit RangeData(const proto::RangeData & range_data); 52 | void clear(); 53 | int64_t time_stamp; 54 | std::vector point_clouds; 55 | transform::Rigid2d submap_pose; 56 | }; 57 | 58 | struct PointCloudCarto 59 | { 60 | public: 61 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 62 | std::vector points; 63 | }; 64 | 65 | // Transforms 'point_cloud' according to 'transform'. 66 | PointCloudCarto TransformPointCloud( 67 | const PointCloudCarto & point_cloud_carto, 68 | const transform::Rigid2f & transform); 69 | 70 | struct RangeDataCarto 71 | { 72 | public: 73 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 74 | Eigen::Vector2f origin; 75 | PointCloudCarto returns; 76 | PointCloudCarto misses; 77 | }; 78 | 79 | RangeDataCarto TransformRangeData( 80 | const RangeDataCarto & range_data_carto, 81 | const transform::Rigid2f & transform); 82 | 83 | proto::RangeData ToProto(const RangeData & range_data); 84 | 85 | int64_t GetVoxelCellIndex( 86 | const Eigen::Vector2d & point, 87 | const double resolution); 88 | 89 | int64_t GetVoxelCellIndex( 90 | const Eigen::Vector2f & point, 91 | const double resolution); 92 | 93 | template 94 | std::vector RandomizedVoxelFilterIndices( 95 | const std::vector & point_cloud, const float resolution, 96 | PointFunction && point_function); 97 | 98 | PointCloud VoxelFilter(const PointCloud & point_cloud, const double resolution); 99 | 100 | PointCloud AdaptivelyVoxelFiltered( 101 | const PointCloud & point_cloud, 102 | const FilterParam & filter_param); 103 | 104 | PointCloudCarto VoxelFilter(const PointCloudCarto & point_cloud, const double resolution); 105 | 106 | PointCloudCarto AdaptivelyVoxelFiltered( 107 | const PointCloudCarto & point_cloud, 108 | const FilterParam & filter_param); 109 | 110 | class MotionFilter 111 | { 112 | public: 113 | explicit MotionFilter(const FilterParam & filter_params); 114 | // If the accumulated motion (linear, rotational, or time) is above the 115 | // threshold, returns false. Otherwise the relative motion is accumulated and 116 | // true is returned. 117 | bool IsSimilar(const common::Time & time, const transform::Rigid3d & pose); 118 | common::Time last_time() const {return last_time_;} 119 | 120 | private: 121 | FilterParam filter_params_; 122 | int num_total_ = 0; 123 | int num_different_ = 0; 124 | common::Time last_time_; 125 | transform::Rigid3d last_pose_; 126 | }; // calss MotionFilter 127 | 128 | void TDFlipMatrix(Eigen::MatrixXd & bel_data); 129 | void LRFlipMatrix(Eigen::MatrixXd & bel_data); 130 | 131 | } // namespace sensor 132 | #endif // OCC_GRIDMAP__SENSOR_HPP_ 133 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/occ_gridmap/tic_toc.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef OCC_GRIDMAP__TIC_TOC_HPP_ 16 | #define OCC_GRIDMAP__TIC_TOC_HPP_ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | class TicToc 23 | { 24 | public: 25 | TicToc() 26 | { 27 | tic(); 28 | } 29 | 30 | void tic() 31 | { 32 | start = std::chrono::system_clock::now(); 33 | } 34 | 35 | double toc() 36 | { 37 | end = std::chrono::system_clock::now(); 38 | std::chrono::duration elapsed_seconds = end - start; 39 | return elapsed_seconds.count() * 1000; 40 | } 41 | 42 | private: 43 | std::chrono::time_point start, end; 44 | }; 45 | 46 | #endif // OCC_GRIDMAP__TIC_TOC_HPP_ 47 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/scan_matching/ceres_scan_matching_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef SCAN_MATCHING__CERES_SCAN_MATCHING_2D_HPP_ 16 | #define SCAN_MATCHING__CERES_SCAN_MATCHING_2D_HPP_ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | 24 | #include "occ_gridmap/param.hpp" 25 | #include "occ_gridmap/rigid_transform.hpp" 26 | #include "occ_gridmap/sensor.hpp" 27 | #include "map2d/grid_2d.hpp" 28 | 29 | namespace mapping 30 | { 31 | 32 | class CeresScanMatcher2D 33 | { 34 | public: 35 | explicit CeresScanMatcher2D(const CeresScanMatchingParam & param); 36 | virtual ~CeresScanMatcher2D(); 37 | 38 | CeresScanMatcher2D(const CeresScanMatcher2D &) = delete; 39 | CeresScanMatcher2D & operator=(const CeresScanMatcher2D &) = delete; 40 | 41 | void Match( 42 | const Eigen::Vector2d & target_translation, 43 | const transform::Rigid2d & initial_pose_estimate, 44 | const sensor::PointCloudCarto & point_cloud_carto, 45 | const Grid2D & grid, 46 | transform::Rigid2d * const pose_estimate, 47 | ceres::Solver::Summary * const summary) const; 48 | 49 | private: 50 | ceres::Solver::Options CreateCeresSolverOptions() 51 | { 52 | ceres::Solver::Options options; 53 | options.use_nonmonotonic_steps = m_param.use_nonmonotonic_steps; 54 | options.max_num_iterations = m_param.max_num_iterations; 55 | options.num_threads = m_param.num_threads; 56 | return options; 57 | } 58 | 59 | CeresScanMatchingParam m_param; 60 | ceres::Solver::Options m_ceres_solver_options; 61 | }; // class CeresScanMatcher2D 62 | } // namespace mapping 63 | 64 | #endif // SCAN_MATCHING__CERES_SCAN_MATCHING_2D_HPP_ 65 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/scan_matching/occupied_space_cost_function_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef SCAN_MATCHING__OCCUPIED_SPACE_COST_FUNCTION_2D_HPP_ 16 | #define SCAN_MATCHING__OCCUPIED_SPACE_COST_FUNCTION_2D_HPP_ 17 | 18 | #include 19 | 20 | #include "occ_gridmap/sensor.hpp" 21 | #include "map2d/grid_2d.hpp" 22 | 23 | namespace mapping 24 | { 25 | 26 | // Creates a cost function for matching the 'point_cloud' to the 'grid' with 27 | // a 'pose'. The cost increases with poorer correspondence of the grid and the 28 | // point observation (e.g. points falling into less occupied space). 29 | ceres::CostFunction * CreateOccupiedSpaceCostFunction2D( 30 | const double scaling_factor, const sensor::PointCloudCarto & point_cloud_carto, 31 | const Grid2D & grid); 32 | 33 | } // namespace mapping 34 | 35 | #endif // SCAN_MATCHING__OCCUPIED_SPACE_COST_FUNCTION_2D_HPP_ 36 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/scan_matching/rotation_delta_cost_function_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef SCAN_MATCHING__ROTATION_DELTA_COST_FUNCTION_2D_HPP_ 16 | #define SCAN_MATCHING__ROTATION_DELTA_COST_FUNCTION_2D_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | 22 | namespace mapping 23 | { 24 | 25 | // Computes the cost of rotating 'pose' to 'target_angle'. Cost increases with 26 | // the solution's distance from 'target_angle'. 27 | class RotationDeltaCostFunctor2D 28 | { 29 | public: 30 | static ceres::CostFunction * CreateAutoDiffCostFunction( 31 | const double scaling_factor, const double target_angle) 32 | { 33 | return new ceres::AutoDiffCostFunction( 36 | new RotationDeltaCostFunctor2D(scaling_factor, target_angle)); 37 | } 38 | 39 | template 40 | bool operator()(const T * const pose, T * residual) const 41 | { 42 | residual[0] = m_scaling_factor * (pose[2] - m_angle); 43 | return true; 44 | } 45 | 46 | private: 47 | explicit RotationDeltaCostFunctor2D( 48 | const double scaling_factor, const double target_angle) 49 | : m_scaling_factor(scaling_factor), 50 | m_angle(target_angle) {} 51 | 52 | RotationDeltaCostFunctor2D(const RotationDeltaCostFunctor2D &) = delete; 53 | RotationDeltaCostFunctor2D & operator=( 54 | const RotationDeltaCostFunctor2D &) = delete; 55 | 56 | const double m_scaling_factor; 57 | const double m_angle; 58 | }; // class RotationDeltaCostFunctor2D 59 | 60 | } // namespace mapping 61 | 62 | #endif // SCAN_MATCHING__ROTATION_DELTA_COST_FUNCTION_2D_HPP_ 63 | -------------------------------------------------------------------------------- /3rdparty/occmap/include/scan_matching/translation_delta_cost_functor_2d.hpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #ifndef SCAN_MATCHING__TRANSLATION_DELTA_COST_FUNCTOR_2D_HPP_ 16 | #define SCAN_MATCHING__TRANSLATION_DELTA_COST_FUNCTOR_2D_HPP_ 17 | 18 | #include 19 | 20 | #include 21 | 22 | namespace mapping 23 | { 24 | 25 | // Computes the cost of translating 'pose' to 'target_translation'. 26 | // Cost increases with the solution's distance from 'target_translation'. 27 | class TranslationDeltaCostFunctor2D 28 | { 29 | public: 30 | static ceres::CostFunction * CreateAutoDiffCostFunction( 31 | const double scaling_factor, const Eigen::Vector2d & target_translation) 32 | { 33 | return new ceres::AutoDiffCostFunction( 36 | new TranslationDeltaCostFunctor2D(scaling_factor, target_translation)); 37 | } 38 | 39 | template 40 | bool operator()(const T * const pose, T * residual) const 41 | { 42 | residual[0] = m_scaling_factor * (pose[0] - m_x); 43 | residual[1] = m_scaling_factor * (pose[1] - m_y); 44 | return true; 45 | } 46 | 47 | private: 48 | // Constructs a new TranslationDeltaCostFunctor2D from the given 49 | // 'target_translation' (x, y). 50 | explicit TranslationDeltaCostFunctor2D( 51 | const double scaling_factor, const Eigen::Vector2d & target_translation) 52 | : m_scaling_factor(scaling_factor), 53 | m_x(target_translation.x()), 54 | m_y(target_translation.y()) {} 55 | 56 | TranslationDeltaCostFunctor2D(const TranslationDeltaCostFunctor2D &) = delete; 57 | TranslationDeltaCostFunctor2D & operator=( 58 | const TranslationDeltaCostFunctor2D &) = delete; 59 | 60 | const double m_scaling_factor; 61 | const double m_x; 62 | const double m_y; 63 | }; // class TranslationDeltaCostFunctor2D 64 | 65 | } // namespace mapping 66 | 67 | #endif // SCAN_MATCHING__TRANSLATION_DELTA_COST_FUNCTOR_2D_HPP_ 68 | -------------------------------------------------------------------------------- /3rdparty/occmap/install.sh: -------------------------------------------------------------------------------- 1 | rm -rf install 2 | if [ ! -d "build" ]; then 3 | mkdir build 4 | fi 5 | cd build && rm -rf CMakeCache.txt 6 | cmake .. && make -j4 && make install 7 | cd ../ && rm -rf build -------------------------------------------------------------------------------- /3rdparty/occmap/proto/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | find_package(Protobuf REQUIRED) 2 | 3 | file(GLOB PROTO_FILES "${CMAKE_CURRENT_SOURCE_DIR}/*.proto") 4 | message(STATUS ${PROTO_FILES}) 5 | 6 | protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES}) 7 | message("-- PROTO_SRCS = ${PROTO_SRCS}") 8 | message("-- PROTO_HDRS = ${PROTO_HDRS}") 9 | 10 | add_library(proto STATIC ${PROTO_SRCS} ${PROTO_HDRS}) 11 | 12 | target_link_libraries(proto ${Protobuf_LIBRARIES}) 13 | message("-- Found protobuf libraries: " ${Protobuf_LIBRARIES}) 14 | message("-- Found protobuf include: " ${PROTOBUF_INCLUDE_DIRS}) 15 | target_include_directories(proto 16 | PUBLIC ${CMAKE_CURRENT_BINARY_DIR} 17 | PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} 18 | PUBLIC ${PROTOBUF_INCLUDE_DIRS} 19 | PUBLIC "/usr/local/include") 20 | 21 | install(TARGETS 22 | proto 23 | LIBRARY DESTINATION lib) -------------------------------------------------------------------------------- /3rdparty/occmap/proto/range_data.proto: -------------------------------------------------------------------------------- 1 | syntax = "proto3"; 2 | 3 | package proto; 4 | 5 | import "transform.proto"; 6 | 7 | message PointCloud { 8 | repeated Vector2d returns_points = 1; 9 | Rigid2d local_pose = 2; 10 | int64 time_stamp = 3; 11 | } 12 | 13 | message RangeData { 14 | int64 time_stamp = 4; 15 | repeated PointCloud point_clouds = 5; 16 | Rigid2d submap_pose = 6; 17 | } -------------------------------------------------------------------------------- /3rdparty/occmap/proto/transform.proto: -------------------------------------------------------------------------------- 1 | syntax = "proto3"; 2 | 3 | package proto; 4 | 5 | // All coordinates are expressed in the right-handed Cartesian coordinate system 6 | // used by Cartographer (x forward, y left, z up). Message names are chosen to 7 | // mirror those used in the Eigen library. 8 | 9 | message Vector2d { 10 | double x = 1; 11 | double y = 2; 12 | } 13 | 14 | message Vector2f { 15 | float x = 1; 16 | float y = 2; 17 | } 18 | 19 | message Vector3d { 20 | double x = 1; 21 | double y = 2; 22 | double z = 3; 23 | } 24 | 25 | message Vector3f { 26 | float x = 1; 27 | float y = 2; 28 | float z = 3; 29 | } 30 | 31 | message Vector4f { 32 | float x = 1; 33 | float y = 2; 34 | float z = 3; 35 | float t = 4; 36 | } 37 | 38 | message Quaterniond { 39 | double x = 1; 40 | double y = 2; 41 | double z = 3; 42 | double w = 4; 43 | } 44 | 45 | message Quaternionf { 46 | float x = 1; 47 | float y = 2; 48 | float z = 3; 49 | float w = 4; 50 | } 51 | 52 | message Rigid2d { 53 | Vector2d translation = 1; 54 | double rotation = 2; 55 | } 56 | 57 | message Rigid2f { 58 | Vector2f translation = 1; 59 | float rotation = 2; 60 | } 61 | 62 | message Rigid3d { 63 | Vector3d translation = 1; 64 | Quaterniond rotation = 2; 65 | } 66 | 67 | message Rigid3f { 68 | Vector3f translation = 1; 69 | Quaternionf rotation = 2; 70 | } -------------------------------------------------------------------------------- /3rdparty/occmap/src/ceres_scan_matching_2d.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include 16 | #include 17 | 18 | #include "scan_matching/ceres_scan_matching_2d.hpp" 19 | #include "scan_matching/occupied_space_cost_function_2d.hpp" 20 | #include "scan_matching/rotation_delta_cost_function_2d.hpp" 21 | #include "scan_matching/translation_delta_cost_functor_2d.hpp" 22 | 23 | namespace mapping 24 | { 25 | 26 | CeresScanMatcher2D::CeresScanMatcher2D( 27 | const CeresScanMatchingParam & param) 28 | : m_param(param), 29 | m_ceres_solver_options(CreateCeresSolverOptions()) 30 | { 31 | m_ceres_solver_options.linear_solver_type = ceres::DENSE_QR; 32 | } 33 | 34 | CeresScanMatcher2D::~CeresScanMatcher2D() {} 35 | 36 | void CeresScanMatcher2D::Match( 37 | const Eigen::Vector2d & target_translation, 38 | const transform::Rigid2d & initial_pose_estimate, 39 | const sensor::PointCloudCarto & point_cloud_carto, 40 | const Grid2D & grid, 41 | transform::Rigid2d * const pose_estimate, 42 | ceres::Solver::Summary * const summary) const 43 | { 44 | double ceres_pose_estimate[3] = {initial_pose_estimate.translation().x(), 45 | initial_pose_estimate.translation().y(), 46 | initial_pose_estimate.rotation().angle()}; 47 | ceres::Problem problem; 48 | CHECK_GT(m_param.occupied_space_weight, 0.); 49 | problem.AddResidualBlock( 50 | CreateOccupiedSpaceCostFunction2D( 51 | m_param.occupied_space_weight / 52 | std::sqrt(static_cast(point_cloud_carto.points.size())), 53 | point_cloud_carto, grid), 54 | nullptr /* loss function */, ceres_pose_estimate); 55 | 56 | CHECK_GT(m_param.rotation_weight, 0.); 57 | problem.AddResidualBlock( 58 | TranslationDeltaCostFunctor2D::CreateAutoDiffCostFunction( 59 | m_param.translation_weight, target_translation), 60 | nullptr /* loss function */, ceres_pose_estimate); 61 | CHECK_GT(m_param.rotation_weight, 0.); 62 | problem.AddResidualBlock( 63 | RotationDeltaCostFunctor2D::CreateAutoDiffCostFunction( 64 | m_param.rotation_weight, ceres_pose_estimate[2]), 65 | nullptr /* loss function */, ceres_pose_estimate); 66 | 67 | ceres::Solve(m_ceres_solver_options, &problem, summary); 68 | 69 | *pose_estimate = transform::Rigid2d( 70 | {ceres_pose_estimate[0], ceres_pose_estimate[1]}, ceres_pose_estimate[2]); 71 | } 72 | 73 | } // namespace mapping 74 | -------------------------------------------------------------------------------- /3rdparty/occmap/src/image.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include 16 | #include 17 | 18 | #include "map2d/image.hpp" 19 | 20 | namespace io 21 | { 22 | 23 | StreamFileWriter::StreamFileWriter(const std::string & filename) 24 | : filename_(filename), out_(filename, std::ios::out | std::ios::binary) {} 25 | 26 | StreamFileWriter::~StreamFileWriter() {} 27 | 28 | bool StreamFileWriter::Write(const char * const data, const size_t len) 29 | { 30 | if (out_.bad()) { 31 | return false; 32 | } 33 | out_.write(data, len); 34 | return !out_.bad(); 35 | } 36 | 37 | bool StreamFileWriter::Close() 38 | { 39 | if (out_.bad()) { 40 | return false; 41 | } 42 | out_.close(); 43 | return !out_.bad(); 44 | } 45 | 46 | bool StreamFileWriter::WriteHeader(const char * const data, const size_t len) 47 | { 48 | if (out_.bad()) { 49 | return false; 50 | } 51 | out_.flush(); 52 | out_.seekp(0); 53 | return Write(data, len); 54 | } 55 | 56 | std::string StreamFileWriter::GetFilename() {return filename_;} 57 | 58 | Image::Image(int width, int height) 59 | : width_(width), height_(height), pixels_(width * height, 0) {} 60 | 61 | void Image::SetPixel(int x, int y, const uint8_t & color) 62 | { 63 | pixels_[y * width_ + x] = color; 64 | } 65 | 66 | uint8_t Image::GetPixel(int x, int y) const 67 | { 68 | return pixels_[y * width_ + x]; 69 | } 70 | void Image::Rotate90DegreeClockWise() 71 | { 72 | const auto old_pixels = pixels_; 73 | pixels_.clear(); 74 | for (int x = 0; x < width_; ++x) { 75 | for (int y = height_ - 1; y >= 0; --y) { 76 | pixels_.push_back(old_pixels.at(y * width_ + x)); 77 | } 78 | } 79 | std::swap(width_, height_); 80 | } 81 | void Image::Rotate90LeftDegree() 82 | { 83 | const auto old_pixels = pixels_; 84 | pixels_.clear(); 85 | for (int x = width_ - 1; x >= 0; --x) { 86 | for (int y = 0; y < height_; ++y) { 87 | pixels_.push_back(old_pixels.at(y * width_ + x)); 88 | } 89 | } 90 | std::swap(width_, height_); 91 | } 92 | 93 | void Image::WritePgm(const double resolution, StreamFileWriter * const file_writer) 94 | { 95 | const std::string header = "P5\n# Cartographer map; " + 96 | std::to_string(resolution) + " m/pixel\n" + 97 | std::to_string(width_) + " " + 98 | std::to_string(height_) + "\n255\n"; 99 | file_writer->Write(header.data(), header.size()); 100 | for (int y = 0; y < height_; ++y) { 101 | for (int x = 0; x < width_; ++x) { 102 | const char color = GetPixel(x, y); 103 | file_writer->Write(&color, 1); 104 | } 105 | } 106 | } 107 | } // namespace io 108 | -------------------------------------------------------------------------------- /3rdparty/occmap/src/rigid_transform.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include "occ_gridmap/rigid_transform.hpp" 16 | 17 | namespace transform 18 | { 19 | 20 | Rigid2d ToRigid2(const proto::Rigid2d & transform) 21 | { 22 | return Rigid2d( 23 | {transform.translation().x(), transform.translation().y()}, 24 | transform.rotation()); 25 | } 26 | 27 | Eigen::Vector2d ToEigen(const proto::Vector2d & vector) 28 | { 29 | return Eigen::Vector2d(vector.x(), vector.y()); 30 | } 31 | 32 | 33 | Eigen::Vector3d ToEigen(const proto::Vector3d & vector) 34 | { 35 | return Eigen::Vector3d(vector.x(), vector.y(), vector.z()); 36 | } 37 | 38 | Eigen::Quaterniond ToEigen(const proto::Quaterniond & quaternion) 39 | { 40 | return Eigen::Quaterniond( 41 | quaternion.w(), quaternion.x(), quaternion.y(), 42 | quaternion.z()); 43 | } 44 | 45 | proto::Rigid2d ToProto(const transform::Rigid2d & transform) 46 | { 47 | proto::Rigid2d proto; 48 | proto.mutable_translation()->set_x(transform.translation().x()); 49 | proto.mutable_translation()->set_y(transform.translation().y()); 50 | proto.set_rotation(transform.rotation().angle()); 51 | return proto; 52 | } 53 | 54 | 55 | proto::Rigid3d ToProto(const transform::Rigid3d & rigid) 56 | { 57 | proto::Rigid3d proto; 58 | *proto.mutable_translation() = ToProto(rigid.translation()); 59 | *proto.mutable_rotation() = ToProto(rigid.rotation()); 60 | return proto; 61 | } 62 | 63 | transform::Rigid3d ToRigid3(const proto::Rigid3d & rigid) 64 | { 65 | return transform::Rigid3d( 66 | ToEigen(rigid.translation()), 67 | ToEigen(rigid.rotation())); 68 | } 69 | 70 | proto::Vector2d ToProto(const Eigen::Vector2d & vector) 71 | { 72 | proto::Vector2d proto; 73 | proto.set_x(vector.x()); 74 | proto.set_y(vector.y()); 75 | return proto; 76 | } 77 | 78 | proto::Vector3d ToProto(const Eigen::Vector3d & vector) 79 | { 80 | proto::Vector3d proto; 81 | proto.set_x(vector.x()); 82 | proto.set_y(vector.y()); 83 | proto.set_z(vector.z()); 84 | return proto; 85 | } 86 | 87 | proto::Quaterniond ToProto(const Eigen::Quaterniond & quaternion) 88 | { 89 | proto::Quaterniond proto; 90 | proto.set_w(quaternion.w()); 91 | proto.set_x(quaternion.x()); 92 | proto.set_y(quaternion.y()); 93 | proto.set_z(quaternion.z()); 94 | return proto; 95 | } 96 | 97 | 98 | } // namespace transform 99 | -------------------------------------------------------------------------------- /3rdparty/occmap/src/submap_2d.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include 16 | #include 17 | #include 18 | 19 | #include "map2d/submap_2d.hpp" 20 | 21 | namespace mapping 22 | { 23 | 24 | Submap2D::Submap2D( 25 | const Eigen::Vector2f & origin, std::unique_ptr grid, 26 | ValueConversionTables * conversion_tables) 27 | : Submap(transform::Rigid3d::Translation( 28 | Eigen::Vector3d(origin.x(), origin.y(), 0.))), 29 | m_conversion_tables(conversion_tables) 30 | { 31 | m_grid = std::move(grid); 32 | } 33 | 34 | void Submap2D::InsertRangeData( 35 | const sensor::RangeDataCarto & range_data_carto, 36 | const GridInserter2D * grid2d_inserter) 37 | { 38 | CHECK(m_grid); 39 | CHECK(!insertion_finished()); 40 | CHECK_NOTNULL(grid2d_inserter); 41 | grid2d_inserter->Insert(range_data_carto, m_grid.get()); 42 | set_num_range_data(num_range_data() + 1); 43 | } 44 | 45 | void Submap2D::Finish() 46 | { 47 | CHECK(m_grid); 48 | CHECK(!insertion_finished()); 49 | m_grid = m_grid->ComputeCroppedGrid(); 50 | set_insertion_finished(true); 51 | } 52 | 53 | std::vector> ActiveSubmaps2D::submaps() const 54 | { 55 | return std::vector>(m_submaps.begin(), m_submaps.end()); 56 | } 57 | 58 | std::vector> ActiveSubmaps2D::InsertRangeData( 59 | const sensor::RangeDataCarto & range_data) 60 | { 61 | if (m_submaps.empty() || 62 | m_submaps.back()->num_range_data() == 35) 63 | { 64 | AddSubmap(range_data.origin.head<2>()); 65 | } 66 | for (auto & submap : m_submaps) { 67 | submap->InsertRangeData(range_data, m_grid_inserter_2d.get()); 68 | } 69 | if (m_submaps.front()->num_range_data() == 2 * 35) { 70 | m_submaps.front()->Finish(); 71 | } 72 | return submaps(); 73 | } 74 | 75 | std::unique_ptr ActiveSubmaps2D::CreateGrid( 76 | const Eigen::Vector2f & origin) 77 | { 78 | float resolution = m_param.resolution; 79 | return std::make_unique( 80 | MapLimits( 81 | resolution, 82 | origin.cast() + 0.5 * m_param.resolution * 83 | Eigen::Vector2d(static_cast(m_param.sizex), static_cast(m_param.sizey)), 84 | CellLimits(m_param.sizex, m_param.sizey)), 85 | kMinCorrespondenceCost, kMaxCorrespondenceCost, 86 | &m_conversion_tables); 87 | } 88 | 89 | void ActiveSubmaps2D::AddSubmap(const Eigen::Vector2f & origin) 90 | { 91 | LOG(INFO) << "Add new submap"; 92 | 93 | if (m_submaps.size() >= 2) { 94 | // This will crop the finished Submap before inserting a new Submap to 95 | // reduce peak memory usage a bit. 96 | CHECK(m_submaps.front()->insertion_finished()); 97 | m_submaps.erase(m_submaps.begin()); 98 | } 99 | m_submaps.push_back( 100 | std::make_unique( 101 | origin, 102 | std::unique_ptr( 103 | static_cast(CreateGrid(origin).release())), 104 | &m_conversion_tables)); 105 | } 106 | 107 | } // namespace mapping 108 | -------------------------------------------------------------------------------- /3rdparty/occmap/src/value_conversion_tables.cpp: -------------------------------------------------------------------------------- 1 | // Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | // 3 | // Licensed under the Apache License, Version 2.0 (the "License"); 4 | // you may not use this file except in compliance with the License. 5 | // You may obtain a copy of the License at 6 | // 7 | // http://www.apache.org/licenses/LICENSE-2.0 8 | // 9 | // Unless required by applicable law or agreed to in writing, software 10 | // distributed under the License is distributed on an "AS IS" BASIS, 11 | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | // See the License for the specific language governing permissions and 13 | // limitations under the License. 14 | 15 | #include 16 | 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | #include "map2d/value_conversion_tables.hpp" 23 | 24 | namespace mapping 25 | { 26 | 27 | constexpr uint16_t kUpdateMarker = 1u << 15; 28 | 29 | // 0 is unknown, [1, 32767] maps to [lower_bound, upper_bound]. 30 | float SlowValueToBoundedFloat( 31 | const uint16_t value, const uint16_t unknown_value, 32 | const float unknown_result, 33 | const float lower_bound, 34 | const float upper_bound) 35 | { 36 | CHECK_LE(value, 32767); 37 | if (value == unknown_value) {return unknown_result;} 38 | const float kScale = (upper_bound - lower_bound) / 32766.f; 39 | return value * kScale + (lower_bound - kScale); 40 | } 41 | 42 | std::unique_ptr> PrecomputeValueToBoundedFloat( 43 | const uint16_t unknown_value, const float unknown_result, 44 | const float lower_bound, const float upper_bound) 45 | { 46 | auto result = std::make_unique>(); 47 | size_t num_values = std::numeric_limits::max() + 1; 48 | result->reserve(num_values); 49 | for (size_t value = 0; value != num_values; ++value) { 50 | result->push_back( 51 | SlowValueToBoundedFloat( 52 | static_cast(value) & ~kUpdateMarker, unknown_value, 53 | unknown_result, lower_bound, upper_bound)); 54 | } 55 | return result; 56 | } 57 | 58 | const std::vector * ValueConversionTables::GetConversionTable( 59 | float unknown_result, float lower_bound, float upper_bound) 60 | { 61 | std::tuple bounds = 62 | std::make_tuple(unknown_result, lower_bound, upper_bound); 63 | auto lookup_table_iterator = bounds_to_lookup_table_.find(bounds); 64 | if (lookup_table_iterator == bounds_to_lookup_table_.end()) { 65 | auto insertion_result = bounds_to_lookup_table_.emplace( 66 | bounds, PrecomputeValueToBoundedFloat( 67 | 0, unknown_result, lower_bound, 68 | upper_bound)); 69 | return insertion_result.first->second.get(); 70 | } else { 71 | return lookup_table_iterator->second.get(); 72 | } 73 | } 74 | 75 | } // namespace mapping 76 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MiRoboticsLab/cyberdog_occmap/beb5a5e33604d55fe3e4db3c5f2ae73462ed2427/CONTRIBUTING.md -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | cyberdog_occmap is released under a Apache License. 2 | Please see README.md for a list of all included code and library dependencies which are not property of the authors of cyberdog_occmap. -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # cyberdog_occmap 2 | 3 | # 1. 简介 4 | cyberdog_occmap基于输入的位置和姿态实时生成相应栅格地图，基于查表更新和Protobuf等技术，实现了非常轻量化的实时栅格建图算法。 5 | 6 | # 2. 程序依赖 7 | cyberdog_occmap在**Ubuntu 20.04**和**ROS2 galactic**上进行了测试，其他环境运行可能会遇到一些依赖问题。 8 | 9 | ## ROS2依赖 10 | cyberdog_occmap是一个ROS2程序，依赖`geometry_msgs`, `nav_msgs`, `sensor_msgs`, `std_msgs`, `message_filters`, `std_srvs`等ROS2相关库，采用以下方式进行安装： 11 | ```bash 12 | sudo apt install ros-galactic-geometry-msgs ros-galactic-nav2-msgs ros-galactic-sensor-msgs ros-galactic-std-msgs ros-galactic-message-filters ros-galactic-std-srvs -y 13 | ``` 14 | 15 | ## Boost 16 | cyberdog_occmap依赖[Boost](https://www.boost.org/)处理文件的读取、写入和删除，基于以下方式进行安装： 17 | ```bash 18 | sudo apt install libboost-dev 19 | ``` 20 | 21 | ## Eigen3 22 | cyberdog_occmap依赖[Eigen](http://eigen.tuxfamily.org)进行矩阵运算，采用以下方式安装： 23 | ```bash 24 | sudo apt install libeigen3-dev 25 | ``` 26 | 27 | ## OpenCV4 28 | cyberdog_occmap依赖[OpenCV](http://opencv.org)对发布后的栅格地图进行去噪和美化处理，使用ROS2自带的OpenCV版本即可。 29 | 30 | ## Yaml-cpp 31 | cyberdog_occmap依赖[Yaml-cpp](https://github.com/jbeder/yaml-cpp)读取参数文件，采用以下方式安装即可： 32 | ```bash 33 | sudo apt install libyaml-cpp-dev 34 | ``` 35 | 36 | ## Ceres 37 | cyberdog_occmap依赖[Ceres](http://ceres-solver.org/)对位置姿态进行二次优化，要求**Ceres为源码编译安装**，版本1.14.0，基于Ceres官方提供方式进行编译安装[Ceres-install](http://ceres-solver.org/installation.html) 38 | 39 | ## Protobuf 40 | cyberdog_occmap依赖[Protobuf](https://github.com/protocolbuffers/protobuf)对栅格地图的子图进行序列化存储，从而大大节省了内存和处理器的使用。要求Protobuf为源码编译安装，版本为3.19.2 41 | 42 | ## OCCMAP 43 | cyberdog_occmap是在occmap基础之上编写的ROS2接口库，为方便代码和接口分离，此程序已将occmap放置在3rdparty内，无需开发者手动编译。但开发者如需更改occmap程序，需要在更改后对occmap依照以下方式进行重新编译安装，即可使得更改内容生效。 44 | ```bash 45 | cd 3rdparty/occmap 46 | bash install.sh 47 | ``` 48 | 49 | ## 其他依赖 50 | cyberdog_occmap依赖[cyberdog_visions_interfaces]()和[cyberdog_common]()来与其他cyberdog程序进行交互，开发者如需单独使用cyberdog_occmap，需要对接口进行重写。 -------------------------------------------------------------------------------- /launch/create_gridmap_node.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2023 Beijing Xiaomi Mobile Software Co., Ltd. All rights reserved. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | from ament_index_python.packages import get_package_share_directory 16 | from launch import LaunchDescription 17 | from launch_ros.actions import Node 18 | from launch.substitutions import LaunchConfiguration 19 | import os 20 | 21 | 22 | def generate_launch_description(): 23 | share_dir = get_package_share_directory("cyberdog_occmap") 24 | config_file = os.path.join(share_dir, "param", "gridmap_node.yaml") 25 | namespace = LaunchConfiguration("namespace", default="") 26 | create_gridmap_node = Node( 27 | package="cyberdog_occmap", 28 | namespace=namespace, 29 | executable="create_gridmap_node", 30 | name="create_gridmap_node", 31 | output="log", 32 | emulate_tty=True, 33 | parameters=[{"config_file": config_file}], 34 | ) 35 | publish_gridmap_node = Node( 36 | package="cyberdog_occmap", 37 | namespace=namespace, 38 | executable="publish_gridmap_node", 39 | name="publish_gridmap_node", 40 | output="screen", 41 | emulate_tty=True, 42 | parameters=[{"config_file": config_file}], 43 | ) 44 | return LaunchDescription( 45 | [ 46 | create_gridmap_node, 47 | publish_gridmap_node, 48 | ] 49 | ) 50 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | cyberdog_occmap 5 | 0.0.0 6 | occ map with mivins 7 | root 8 | Apache License, Version 2.0 9 | 10 | ament_cmake 11 | 12 | rclcpp 13 | geometry_msgs 14 | nav_msgs 15 | sensor_msgs 16 | std_msgs 17 | std_srvs 18 | cyberdog_visions_interfaces 19 | cyberdog_common 20 | ros2launch 21 | 22 | ament_lint_auto 23 | ament_lint_common 24 | 25 | 26 | ament_cmake 27 | 28 | 29 | -------------------------------------------------------------------------------- /param/gridmap_node.yaml: -------------------------------------------------------------------------------- 1 | create_gridmap_node: 2 | create_map_path: /home/mi/mapping/ 3 | loop_pose_path: /SDCARD/miloc/maps/default/viusal/ 4 | calibration_file: /SDCARD/calibrate.yaml 5 | create_service: cyberdog_occmap/create_map_service 6 | finish_service: cyberdog_occmap/finish_map_service 7 | update_service: update_map_service 8 | start_nav_service: cyberdog_occmap/start_nav_service 9 | stop_nav_service: cyberdog_occmap/stop_nav_service 10 | visualization_flag: true 11 | map_mode: single # single or multiple, default is single 12 | get_map_path: get_map_path 13 | frame_id: odom_slam 14 | probability_param: 15 | p_free: 0.45 16 | p_occ: 0.65 17 | p_prior: 0.5 18 | laser_to_baselink: 19 | position: 20 | - 0.179 21 | - 0.0 22 | - 0.0837 23 | quaternion: 24 | - 0.0 25 | - 0.0 26 | - 0.0 27 | - 1.0 28 | laser_topic: scan 29 | odom_topic: odom_slam 30 | range_data_topic: range_data 31 | visualization_topic: occmap_visualization 32 | sub_map: 33 | resolution: 0.05 34 | initx: 50 35 | inity: 50 36 | max_range: 15.0 37 | min_range: 0.2 38 | missing_data_ray_length: 5.0 39 | num_accumulated: 35 40 | sizex: 100 41 | sizey: 100 42 | filter_param: 43 | # motion filter 44 | max_time_seconds: 160 # ms 45 | max_distance_meters: 0.2 # m 46 | max_angle_radians: 0.0175 # rad 47 | # voxel filter 48 | min_num_points: 200 49 | max_length: 0.05 # m 50 | voxel_filter_size: 0.025 51 | ceres_param: 52 | use_nonmonotonic_steps: false 53 | max_num_iterations: 20 54 | num_threads: 1 55 | occupied_space_weight: 10.0 56 | translation_weight: 20.0 57 | rotation_weight: 40.0 58 | mapbeauti: 59 | use_map_beauti: false 60 | side_fill_thresh: 10. 61 | approx_poly_thresh: 3. 62 | dilate_kernel_size: 3 63 | noise_removal_thresh: 2 64 | 65 | publish_gridmap_node: 66 | frame_id: map 67 | range_data_topic: range_data 68 | gridmap_topic: map 69 | visualization_topic: occmap_visualization 70 | submap: 71 | resolution: 0.05 72 | init_size: 100 73 | mapbeauti: 74 | use_map_beauti: false 75 | side_fill_thresh: 10. 76 | approx_poly_thresh: 3. 77 | dilate_kernel_size: 3 78 | noise_removal_thresh: 2 --------------------------------------------------------------------------------