├── CONTRIBUTING.md ├── LICENSE ├── 3rdparty └── occmap │ ├── install.sh │ ├── proto │ ├── range_data.proto │ ├── CMakeLists.txt │ └── transform.proto │ ├── example │ └── CMakeLists.txt │ ├── data │ ├── gridmap_node.yaml │ └── pointcloud │ │ ├── 637938961441429120.txt │ │ ├── 637938961424666520.txt │ │ ├── 637938961434452240.txt │ │ ├── 637938961421656600.txt │ │ ├── 637938961420679170.txt │ │ ├── 637938961422718080.txt │ │ ├── 637938961448127250.txt │ │ ├── 637938961429517620.txt │ │ ├── 637938961425590080.txt │ │ ├── 637938961431477380.txt │ │ ├── 637938961447204670.txt │ │ ├── 637938961419796480.txt │ │ ├── 637938961442249670.txt │ │ ├── 637938961427609610.txt │ │ ├── 637938961430518770.txt │ │ ├── 637938961428542520.txt │ │ ├── 637938961452064660.txt │ │ ├── 637938961423664550.txt │ │ ├── 637938961426565080.txt │ │ ├── 637938961432490890.txt │ │ ├── 637938961435387190.txt │ │ ├── 637938961440422950.txt │ │ ├── 637938961451071210.txt │ │ ├── 637938961417809560.txt │ │ ├── 637938961418776790.txt │ │ ├── 637938961437406860.txt │ │ ├── 637938961443236900.txt │ │ ├── 637938961445176480.txt │ │ ├── 637938961439343830.txt │ │ ├── 637938961446202730.txt │ │ ├── 637938961438408070.txt │ │ ├── 637938961433492250.txt │ │ ├── 637938961455068180.txt │ │ ├── 637938961444249670.txt │ │ ├── 637938961449188000.txt │ │ └── 637938961436418060.txt │ ├── include │ ├── occ_gridmap │ │ ├── tic_toc.hpp │ │ ├── proto_io.hpp │ │ ├── param.hpp │ │ ├── map_beauti.hpp │ │ ├── common.hpp │ │ └── sensor.hpp │ ├── map2d │ │ ├── ray_to_pixel_mask.hpp │ │ ├── value_conversion_tables.hpp │ │ ├── grid_inserter_2d.hpp │ │ ├── submaps.hpp │ │ ├── image.hpp │ │ ├── xy_index.hpp │ │ ├── map_limits.hpp │ │ └── submap_2d.hpp │ └── scan_matching │ │ ├── occupied_space_cost_function_2d.hpp │ │ ├── rotation_delta_cost_function_2d.hpp │ │ ├── ceres_scan_matching_2d.hpp │ │ └── translation_delta_cost_functor_2d.hpp │ ├── CMakeLists.txt │ └── src │ ├── value_conversion_tables.cpp │ ├── rigid_transform.cpp │ ├── ceres_scan_matching_2d.cpp │ ├── image.cpp │ └── submap_2d.cpp ├── .github └── ISSUE_TEMPLATE │ ├── custom.md │ ├── feature_request.md │ └── bug_report.md ├── package.xml ├── README.md ├── launch └── create_gridmap_node.launch.py └── param └── gridmap_node.yaml /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /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. -------------------------------------------------------------------------------- /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 -------------------------------------------------------------------------------- /.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 | -------------------------------------------------------------------------------- /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 | } -------------------------------------------------------------------------------- /.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/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) -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /.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 | -------------------------------------------------------------------------------- /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/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/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/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/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/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/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/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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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/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 | -------------------------------------------------------------------------------- /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 -------------------------------------------------------------------------------- /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/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/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/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/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/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/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 | -------------------------------------------------------------------------------- /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/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/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/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/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/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/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/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/data/pointcloud/637938961441429120.txt: -------------------------------------------------------------------------------- 1 | 1.26891 -6.75994 2 | 1.3583 -6.98924 3 | 2.51229 -5.78831 4 | 2.55654 -5.78858 5 | 2.53937 -5.55621 6 | 2.56711 -5.43194 7 | 2.59965 -5.4109 8 | 2.64518 -5.41662 9 | 2.57109 -5.09839 10 | 2.56034 -4.99729 11 | 2.56456 -4.92758 12 | 2.55818 -4.83946 13 | 2.59666 -4.83709 14 | 2.63809 -4.83969 15 | 2.68062 -4.84371 16 | 2.72282 -4.84652 17 | 2.76418 -4.84724 18 | 2.79163 -4.82339 19 | 2.84523 -4.84424 20 | 2.87872 -4.83023 21 | 2.92147 -4.83139 22 | 2.96487 -4.83306 23 | 3.00049 -4.82163 24 | 3.04035 -4.81671 25 | 3.61634 -5.57001 26 | 3.63815 -5.52588 27 | 3.66899 -5.49583 28 | 3.7024 -5.46976 29 | 3.97083 -5.7076 30 | 4.05222 -5.74582 31 | 4.12903 -5.77591 32 | 4.20346 -5.80119 33 | 4.29968 -5.85478 34 | 4.39855 -5.90978 35 | 4.45795 -5.91025 36 | 4.53636 -5.93484 37 | 4.62262 -5.96815 38 | 4.73048 -6.02734 39 | 4.79135 -6.02513 40 | 4.9958 -6.1198 41 | 5.08584 -6.14936 42 | 4.62405 -3.06569 43 | 4.62097 -3.02126 44 | 4.66711 -3.00898 45 | 4.63563 -2.94686 46 | 4.67303 -2.92883 47 | 4.69678 -2.90202 48 | 4.70329 -2.86463 49 | 4.69752 -2.82006 50 | 4.71633 -2.79046 51 | 4.74186 -2.76476 52 | 4.74471 -2.72589 53 | 4.74987 -2.68858 54 | 4.77222 -2.66106 55 | 5.68939 -2.3194 56 | 5.59734 -2.24022 57 | 5.50266 -2.16158 58 | 5.39601 -2.07993 59 | 5.30258 -2.00504 60 | 5.1981 -1.92761 61 | 5.14736 -1.87142 62 | 5.10459 -1.81898 63 | 5.10102 -1.78101 64 | 5.08203 -1.73798 65 | 5.10348 -1.70892 66 | 5.11526 -1.67654 67 | 5.12398 -1.64317 68 | 5.1382 -1.61155 69 | 4.78482 -1.43372 70 | 4.78525 -1.40055 71 | 4.80566 -1.3732 72 | 4.79315 -1.33652 73 | 4.81318 -1.30897 74 | 4.83403 -1.28148 75 | 4.84309 -1.25077 76 | 4.8413 -1.21732 77 | 4.8587 -1.1887 78 | 4.86232 -1.15666 79 | 4.87644 -1.1271 80 | 4.87965 -1.095 81 | 4.8973 -1.0661 82 | 4.90598 -1.03515 83 | 4.91054 -1.00334 84 | 5.36849 -0.989967 85 | 5.34616 -0.950521 86 | 4.9849 -0.82063 87 | 4.98808 -0.788406 88 | 5.00785 -0.758722 89 | 5.00765 -0.725947 90 | 5.01319 -0.694029 91 | 5.03438 -0.664163 92 | 5.05837 -0.634426 93 | 5.07623 -0.603702 94 | 5.06607 -0.569646 95 | 5.08851 -0.539222 96 | 5.09086 -0.506554 97 | 5.10893 -0.47536 98 | 5.15746 -0.413381 99 | 5.0473 -0.372066 100 | 4.95579 -0.333454 101 | 4.9738 -0.30271 102 | 4.98362 -0.271315 103 | 4.98625 -0.239471 104 | 5.01066 -0.208518 105 | 5.01489 -0.17656 106 | 5.03291 -0.144959 107 | 5.05273 -0.113179 108 | 5.05735 -0.080912 109 | 5.00677 -0.0480623 110 | 4.99297 -0.0159816 111 | 4.81278 0.0461844 112 | 4.75139 0.0760015 113 | 4.74881 0.106356 114 | 4.74703 0.136709 115 | 4.71008 0.165813 116 | 4.70593 0.195822 117 | 4.71557 0.226455 118 | 4.73299 0.257655 119 | 4.7552 0.289391 120 | 4.77121 0.321018 121 | 4.78502 0.352716 122 | 4.81157 0.385642 123 | 4.83989 0.419094 124 | 4.84806 0.451072 125 | 4.86796 0.484359 126 | 4.88266 0.517393 127 | 4.90509 0.551528 128 | 4.92827 0.586089 129 | 5.30008 0.699198 130 | 5.32918 0.737757 131 | 5.32237 0.771553 132 | 5.34204 0.809336 133 | 5.33576 0.843343 134 | 6.11405 1.04672 135 | 6.13086 1.09002 136 | 6.12966 1.13031 137 | 6.14489 1.17382 138 | 6.15295 1.21622 139 | 5.65157 1.19245 140 | 5.58324 1.2154 141 | 5.51681 1.23796 142 | 5.44739 1.25905 143 | 5.39155 1.28254 144 | 5.3677 1.3132 145 | 5.30294 1.33338 146 | 5.27106 1.36128 147 | 5.26127 1.39472 148 | 5.26768 1.43256 149 | 5.30464 1.47912 150 | 5.31046 1.51743 151 | 5.33039 1.56008 152 | 5.35766 1.60535 153 | 5.36257 1.64429 154 | 5.38439 1.68874 155 | 5.41918 1.73781 156 | 6.85995 2.34598 157 | 6.85763 2.44364 158 | 6.91018 2.56248 159 | 6.88895 2.65537 160 | 6.14459 2.87989 161 | 5.97849 3.13586 162 | 5.98037 3.18581 163 | 5.95635 3.2221 164 | 2.01863 7.71426 165 | 1.96898 7.72605 166 | 1.92336 7.75402 167 | 1.87253 7.76131 168 | 1.82443 7.77994 169 | -------------------------------------------------------------------------------- /3rdparty/occmap/data/pointcloud/637938961424666520.txt: -------------------------------------------------------------------------------- 1 | 2.46693 -6.13456 2 | 2.49233 -6.0854 3 | 2.48987 -5.97064 4 | 2.55483 -6.01816 5 | 2.55387 -5.91088 6 | 2.4669 -5.51545 7 | 2.47963 -5.45046 8 | 2.48618 -5.37375 9 | 2.49909 -5.31255 10 | 2.51736 -5.26404 11 | 2.56485 -5.27667 12 | 2.64624 -5.27215 13 | 2.69796 -5.29082 14 | 2.74771 -5.3046 15 | 2.79124 -5.30556 16 | 2.83866 -5.31325 17 | 2.89105 -5.32933 18 | 2.93509 -5.3292 19 | 3.539 -6.14473 20 | 3.83024 -6.45866 21 | 3.90586 -6.49153 22 | 4.00238 -6.55699 23 | 4.10936 -6.63678 24 | 4.1888 -6.66973 25 | 4.28709 -6.73062 26 | 3.95188 -5.33843 27 | 4.79271 -3.86504 28 | 4.82037 -3.83691 29 | 4.85023 -3.81044 30 | 4.876 -3.78068 31 | 4.88887 -3.74103 32 | 4.89186 -3.69413 33 | 4.92011 -3.66647 34 | 4.94177 -3.63385 35 | 4.95916 -3.59818 36 | 4.97955 -3.56476 37 | 5.0136 -3.54103 38 | 5.01801 -3.49643 39 | 6.03455 -3.39908 40 | 5.94591 -3.29942 41 | 5.88082 -3.21446 42 | 5.78408 -3.11387 43 | 5.70838 -3.02636 44 | 5.62206 -2.93486 45 | 5.52592 -2.84 46 | 5.46805 -2.76636 47 | 5.4894 -2.68985 48 | 5.50282 -2.65308 49 | 5.52142 -2.61882 50 | 5.55522 -2.59161 51 | 5.21224 -2.35119 52 | 5.22072 -2.31509 53 | 5.25278 -2.28937 54 | 5.2737 -2.2586 55 | 5.28153 -2.22224 56 | 5.31037 -2.19465 57 | 5.31405 -2.15663 58 | 5.32955 -2.12346 59 | 5.36905 -2.09965 60 | 5.38419 -2.06611 61 | 5.40099 -2.03317 62 | 5.4082 -1.99664 63 | 5.43304 -1.96656 64 | 5.48505 -1.94594 65 | 5.87385 -1.99997 66 | 5.54046 -1.80799 67 | 5.5633 -1.7763 68 | 5.56974 -1.73932 69 | 5.59314 -1.70759 70 | 5.60966 -1.67363 71 | 5.61637 -1.63673 72 | 5.6363 -1.60364 73 | 5.67146 -1.57465 74 | 5.69779 -1.54292 75 | 5.71911 -1.50964 76 | 5.8184 -1.45679 77 | 5.74012 -1.39838 78 | 5.62436 -1.33227 79 | 5.6152 -1.29237 80 | 5.65064 -1.26267 81 | 5.65076 -1.22494 82 | 5.68585 -1.19466 83 | 5.70805 -1.1614 84 | 5.7271 -1.12732 85 | 5.73712 -1.09136 86 | 5.74199 -1.05442 87 | 5.55781 -0.947541 88 | 5.48084 -0.898516 89 | 5.4499 -0.857819 90 | 5.44141 -0.820985 91 | 5.4307 -0.784007 92 | 5.4554 -0.752117 93 | 5.48388 -0.720464 94 | 5.52408 -0.689966 95 | 5.5512 -0.657455 96 | 5.56025 -0.622624 97 | 5.62278 -0.593372 98 | 5.64237 -0.559107 99 | 5.66772 -0.52517 100 | 5.69586 -0.491191 101 | 5.71582 -0.456237 102 | 5.74753 -0.421928 103 | 6.13674 -0.371936 104 | 6.16894 -0.334447 105 | 6.17794 -0.295464 106 | 6.99312 -0.200562 107 | 7.03025 -0.156798 108 | 7.01011 -0.111661 109 | 6.61897 -0.0210646 110 | 6.62897 0.0211462 111 | 6.46518 0.10303 112 | 6.37941 0.14233 113 | 6.33939 0.181861 114 | 6.31712 0.221518 115 | 6.27561 0.260112 116 | 6.23587 0.298282 117 | 6.23085 0.33785 118 | 6.25552 0.379182 119 | 6.2869 0.42131 120 | 6.318 0.463854 121 | 6.33385 0.505617 122 | 6.36736 0.549147 123 | 6.4195 0.594878 124 | 6.42851 0.637056 125 | 3.55997 7.09272 126 | 3.51337 7.11257 127 | 0.709866 1.86764 128 | 0.707381 1.89743 129 | 0.644803 1.87418 130 | 0.61752 1.83276 131 | 0.593612 1.79963 132 | 0.574145 1.77863 133 | 0.564606 1.78797 134 | 0.54671 1.77051 135 | 0.524725 1.73854 136 | 0.470426 1.63362 137 | 0.458112 1.62984 138 | 0.449568 1.63948 139 | 0.43782 1.63748 140 | 0.421073 1.61604 141 | 0.417407 1.64486 142 | 0.409075 1.65623 143 | 0.393607 1.63838 144 | 0.385433 1.6506 145 | 0.376897 1.6618 146 | 0.36544 1.66026 147 | 0.360046 1.74116 148 | 0.353458 1.76598 149 | 0.343717 1.77605 150 | 0.336435 1.79983 151 | 0.326023 1.80784 152 | 0.311757 1.79411 153 | 0.300978 1.80001 154 | 0.291246 1.81275 155 | 0.319962 2.16751 156 | 0.357982 2.53687 157 | 0.330335 2.45387 158 | 0.229953 1.89006 159 | 0.413309 4.03991 160 | 0.386411 4.03052 161 | 0.156874 1.8895 162 | 0.147275 1.92237 163 | 0.133779 2.09674 164 | 0.117836 2.05262 165 | 0.10139 1.98742 166 | 0.0809215 1.8132 167 | 0.0226246 1.18378 168 | 0.0149278 1.1719 169 | 0.00734504 1.15398 170 | -8.67943e-06 1.149 171 | -------------------------------------------------------------------------------- /3rdparty/occmap/data/pointcloud/637938961434452240.txt: -------------------------------------------------------------------------------- 1 | 0.635731 -7.09257 2 | 1.89812 -5.99782 3 | 1.92653 -5.95513 4 | 1.96339 -5.81445 5 | 2.00862 -5.82543 6 | 2.05043 -5.8257 7 | 2.0328 -5.54833 8 | 2.04579 -5.47529 9 | 2.05223 -5.38735 10 | 2.05872 -5.30236 11 | 2.07524 -5.2454 12 | 2.10683 -5.22741 13 | 2.15421 -5.24808 14 | 2.19732 -5.25728 15 | 2.23632 -5.25602 16 | 2.27381 -5.25081 17 | 2.31294 -5.249 18 | 2.35909 -5.26241 19 | 2.39928 -5.2618 20 | 2.44293 -5.26815 21 | 2.48718 -5.27505 22 | 2.53594 -5.29062 23 | 2.58193 -5.29949 24 | 3.05389 -6.07007 25 | 3.08803 -6.04155 26 | 3.14314 -6.05366 27 | 3.40147 -6.35154 28 | 3.49212 -6.42193 29 | 3.57317 -6.47216 30 | 3.64131 -6.4972 31 | 3.72129 -6.54161 32 | 3.80399 -6.58873 33 | 3.87631 -6.61607 34 | 3.97265 -6.6823 35 | 4.06688 -6.74243 36 | 4.14952 -6.78115 37 | 4.37439 -3.79936 38 | 4.39629 -3.7694 39 | 4.43477 -3.75352 40 | 4.42948 -3.70077 41 | 4.4592 -3.6775 42 | 4.48259 -3.64895 43 | 4.50657 -3.62088 44 | 4.51785 -3.58271 45 | 4.54378 -3.55625 46 | 4.5474 -3.5125 47 | 4.57928 -3.49066 48 | 4.5815 -3.44632 49 | 4.61225 -3.42355 50 | 5.58461 -3.32011 51 | 5.41178 -3.12452 52 | 5.32645 -3.03007 53 | 5.22443 -2.92804 54 | 5.16686 -2.85257 55 | 5.06285 -2.75312 56 | 5.09532 -2.72876 57 | 5.04011 -2.61693 58 | 5.04336 -2.57787 59 | 5.05972 -2.54561 60 | 5.08394 -2.51724 61 | 5.1071 -2.48823 62 | 4.77937 -2.2535 63 | 4.78913 -2.22083 64 | 4.8205 -2.19809 65 | 4.83079 -2.16563 66 | 4.83902 -2.13232 67 | 4.86906 -2.10853 68 | 4.87782 -2.07544 69 | 4.88544 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5.42028 -3.25396 38 | 5.42378 -3.20903 39 | 6.45192 -3.07446 40 | 6.37276 -2.98686 41 | 6.27368 -2.89161 42 | 6.19459 -2.80724 43 | 6.1019 -2.71831 44 | 6.01932 -2.6355 45 | 5.94971 -2.55978 46 | 5.91899 -2.5018 47 | 5.84991 -2.4286 48 | 5.86996 -2.39301 49 | 5.87958 -2.35318 50 | 5.87497 -2.30783 51 | 5.88122 -2.26696 52 | 5.9246 -2.24025 53 | 5.58155 -2.02928 54 | 5.59348 -1.99319 55 | 5.60045 -1.95538 56 | 5.64597 -1.93084 57 | 5.64398 -1.88991 58 | 5.66261 -1.85594 59 | 5.68865 -1.82425 60 | 5.69639 -1.78662 61 | 5.70771 -1.75013 62 | 5.72645 -1.71588 63 | 5.74979 -1.68285 64 | 5.75659 -1.64493 65 | 5.76411 -1.60726 66 | 6.22305 -1.6497 67 | 6.20733 -1.6031 68 | 5.87474 -1.43727 69 | 5.88868 -1.40081 70 | 5.89557 -1.36266 71 | 5.92759 -1.33016 72 | 5.935 -1.29199 73 | 5.97152 -1.25998 74 | 5.98338 -1.22255 75 | 5.99206 -1.18443 76 | 6.01425 -1.14888 77 | 6.04803 -1.11528 78 | 6.06673 -1.03864 79 | 5.95682 -0.980631 80 | 5.8968 -0.932037 81 | 5.94417 -0.90058 82 | 5.94981 -0.862529 83 | 5.95223 -0.824031 84 | 6.002 -0.791816 85 | 6.00396 -0.753023 86 | 6.04143 -0.71849 87 | 6.00913 -0.675686 88 | 5.92483 -0.627845 89 | 5.84016 -0.581111 90 | 5.77406 -0.537247 91 | 5.74151 -0.497186 92 | 5.70271 -0.457084 93 | 5.70352 -0.42044 94 | 5.75399 -0.387161 95 | 5.76933 -0.351127 96 | 5.80241 -0.315891 97 | 5.82029 -0.279526 98 | 5.85693 -0.243736 99 | 5.89934 -0.207699 100 | 5.91455 -0.170352 101 | 5.93051 -0.132841 102 | 5.98823 -0.0958051 103 | 6.05372 -0.0581124 104 | 6.15197 -0.0196913 105 | 6.20097 0.019828 106 | 6.40118 0.102391 107 | 6.41239 0.143614 108 | 6.43433 0.185302 109 | 7.21675 0.300301 110 | 7.23466 0.34743 111 | 7.26824 0.395669 112 | 7.25258 0.441376 113 | 6.74769 0.49739 114 | 6.69354 0.536479 115 | 6.63019 0.574119 116 | 6.54971 0.609396 117 | 6.51185 0.647924 118 | 6.43994 0.68241 119 | 6.39371 0.718908 120 | 6.4148 0.762873 121 | 6.46138 0.810372 122 | 6.46102 0.852351 123 | 6.50397 0.900393 124 | 6.52381 0.945719 125 | 6.56113 0.994032 126 | 6.5892 1.04146 127 | 7.0921 2.1746 128 | 7.06563 2.21604 129 | 0.795175 1.93282 130 | 0.767436 1.89985 131 | 0.724567 1.86199 132 | 0.710142 1.86005 133 | 0.64354 1.75258 134 | 0.627572 1.74349 135 | 0.575162 1.66442 136 | 0.555205 1.6406 137 | 0.547841 1.65361 138 | 0.5391 1.66279 139 | 0.52966 1.67002 140 | 0.515113 1.66096 141 | 0.504185 1.66326 142 | 0.492681 1.66358 143 | 0.480915 1.66285 144 | 0.467821 1.65724 145 | 0.458004 1.66309 146 | 0.464532 1.77523 147 | 0.450201 1.76654 148 | 0.435037 1.75385 149 | 0.421226 1.74591 150 | 0.411873 1.75635 151 | 0.39774 1.74628 152 | 0.392338 1.83042 153 | 0.381635 1.83779 154 | 0.363957 1.81079 155 | 0.353508 1.81897 156 | 0.341863 1.82119 157 | 0.329134 1.81744 158 | 0.318015 1.82246 159 | 0.308666 1.83827 160 | 0.298968 1.85304 161 | 0.288483 1.86381 162 | 0.161427 1.19414 163 | 0.150082 1.16638 164 | 0.138614 1.13456 165 | 0.130088 1.1245 166 | 0.119851 1.09748 167 | 0.111395 1.08429 168 | 0.102922 1.06906 169 | 0.0931278 1.03683 170 | 0.0858273 1.02943 171 | 0.0778582 1.01201 172 | 0.069975 0.992536 173 | 0.0632394 0.986976 174 | 0.0560022 0.971387 175 | 0.0487625 0.951752 176 | 0.0422242 0.942054 177 | 0.0355817 0.926317 178 | 0.0292702 0.914532 179 | 0.0231367 0.903704 180 | 0.0172773 0.899834 181 | 0.0111611 0.871929 182 | 0.00551805 0.861982 183 | 2.7368e-06 0.862 184 | -------------------------------------------------------------------------------- /3rdparty/occmap/data/pointcloud/637938961437406860.txt: -------------------------------------------------------------------------------- 1 | 0.6821 -7.08524 2 | 0.729361 -7.09963 3 | 0.87544 -7.16572 4 | 2.06405 -6.09922 5 | 2.10564 -6.09345 6 | 2.1366 -6.05722 7 | 2.19429 -5.97587 8 | 2.20513 -5.88866 9 | 2.25453 -5.90526 10 | 2.29771 -5.9047 11 | 2.17232 -5.37783 12 | 2.18386 -5.30833 13 | 2.19344 -5.23614 14 | 2.19983 -5.15853 15 | 2.21607 -5.10582 16 | 2.27334 -5.14734 17 | 2.34026 -5.12055 18 | 2.38647 -5.13449 19 | 2.43337 -5.14896 20 | 2.47406 -5.1495 21 | 2.51398 -5.14795 22 | 2.55442 -5.14698 23 | 2.60036 -5.15643 24 | 2.64424 -5.16105 25 | 3.14048 -5.94102 26 | 3.17228 -5.90936 27 | 3.21194 -5.89245 28 | 3.52854 -6.18761 29 | 3.61665 -6.24886 30 | 3.68441 -6.27302 31 | 3.77311 -6.33092 32 | 3.84407 -6.35714 33 | 3.92545 -6.3989 34 | 4.01016 -6.44412 35 | 4.09722 -6.49106 36 | 4.16131 -6.50008 37 | 4.25563 -6.55468 38 | 4.33048 -6.57743 39 | 4.42578 -6.62943 40 | 4.4154 -3.58099 41 | 4.439 -3.55329 42 | 4.46164 -3.52482 43 | 4.45493 -3.47345 44 | 4.48815 -3.45341 45 | 4.4998 -3.41676 46 | 4.51277 -3.3813 47 | 4.52868 -3.3482 48 | 4.53386 -3.30737 49 | 4.55087 -3.27537 50 | 4.57581 -3.24908 51 | 4.58586 -3.21228 52 | 4.62359 -3.19481 53 | 5.53995 -2.95121 54 | 5.44183 -2.85439 55 | 5.34269 -2.75895 56 | 5.24791 -2.66761 57 | 5.16113 -2.58208 58 | 5.06899 -2.49556 59 | 5.05966 -2.45087 60 | 5.031 -2.39737 61 | 5.02269 -2.35409 62 | 5.03584 -2.32107 63 | 5.04603 -2.28674 64 | 5.05782 -2.25319 65 | 5.07213 -2.22078 66 | 4.74459 -2.00541 67 | 4.75086 -1.97233 68 | 4.76708 -1.9434 69 | 4.77478 -1.911 70 | 4.79901 -1.88517 71 | 4.79698 -1.84903 72 | 4.8218 -1.82325 73 | 4.83149 -1.79167 74 | 4.85132 -1.76379 75 | 4.86627 -1.73406 76 | 4.87727 -1.70289 77 | 4.88617 -1.671 78 | 4.9053 -1.64256 79 | 4.9119 -1.60989 80 | 4.93448 -1.5824 81 | 5.36257 -1.64431 82 | 5.37681 -1.61111 83 | 5.01566 -1.39856 84 | 5.06021 -1.37615 85 | 5.06215 -1.34195 86 | 5.07547 -1.31079 87 | 5.09248 -1.28048 88 | 5.10543 -1.24906 89 | 5.10359 -1.21405 90 | 5.12392 -1.1843 91 | 5.13822 -1.15302 92 | 5.16015 -1.12332 93 | 5.17799 -1.09255 94 | 5.24649 -1.03706 95 | 5.14202 -0.982266 96 | 5.05773 -0.932661 97 | 5.05571 -0.898881 98 | 5.06728 -0.867527 99 | 5.0895 -0.837849 100 | 5.10759 -0.807297 101 | 5.12056 -0.775799 102 | 5.1561 -0.747468 103 | 5.15979 -0.714325 104 | 5.18309 -0.683781 105 | 5.14569 -0.645378 106 | 5.08715 -0.605001 107 | 5.00148 -0.562383 108 | 4.93636 -0.523099 109 | 4.90975 -0.488533 110 | 4.87196 -0.453311 111 | 4.83491 -0.418678 112 | 4.85344 -0.389013 113 | 4.88774 -0.360304 114 | 4.89593 -0.329426 115 | 4.92389 -0.299673 116 | 4.95067 -0.269521 117 | 4.98625 -0.239471 118 | 5.00167 -0.208144 119 | 5.03688 -0.177334 120 | 5.0569 -0.14565 121 | 5.07373 -0.11365 122 | 5.09335 -0.0814879 123 | 5.13876 -0.0493293 124 | 5.23797 -0.0167658 125 | 5.24597 0.0167743 126 | 5.51429 0.0882046 127 | 5.52162 0.123664 128 | 5.5427 0.159624 129 | 5.56155 0.195788 130 | 6.35559 0.345986 131 | 6.38519 0.388588 132 | 6.38656 0.429703 133 | 6.40163 0.471881 134 | 5.9049 0.511315 135 | 5.84575 0.543898 136 | 5.78643 0.575746 137 | 5.71003 0.605065 138 | 5.67424 0.638011 139 | 5.63132 0.669698 140 | 5.58524 0.700489 141 | 5.53405 0.730064 142 | 5.55403 0.768885 143 | 5.56582 0.806845 144 | 5.59416 0.847533 145 | 5.63406 0.890491 146 | 5.64206 0.928795 147 | 5.6567 0.968419 148 | 5.68879 1.01142 149 | 5.72154 1.05505 150 | 7.25607 1.57955 151 | 7.29069 1.63602 152 | 7.3512 1.69907 153 | 7.34213 1.74654 154 | 7.27553 1.82937 155 | 6.9788 2.18881 156 | 6.61614 2.12165 157 | 6.57677 2.15553 158 | 6.51164 2.18042 159 | 6.3859 2.18386 160 | 6.67203 2.3295 161 | 6.33355 2.34865 162 | 6.41567 2.42591 163 | 6.48493 2.49964 164 | 6.41249 2.56644 165 | 2.99259 7.40841 166 | 2.89936 7.45076 167 | 2.36828 7.30468 168 | 2.27965 7.35062 169 | 0.621942 5.69514 170 | 0.579971 5.64529 171 | 0.540773 5.61703 172 | 0.502496 5.59448 173 | 0.463368 5.55772 174 | 0.42404 5.51171 175 | 0.386726 5.48538 176 | 0.349255 5.45082 177 | 0.310746 5.39005 178 | 0.20727 4.62436 179 | 0.176296 4.58962 180 | 0.145679 4.55167 181 | 0.116374 4.54551 182 | 0.0864055 4.50017 183 | 0.0570984 4.46063 184 | 0.028416 4.43891 185 | 1.39856e-05 4.405 186 | -------------------------------------------------------------------------------- /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/data/pointcloud/637938961443236900.txt: -------------------------------------------------------------------------------- 1 | 1.6896 -6.65796 2 | 1.7857 -6.85317 3 | 1.8345 -6.86098 4 | 2.88478 -5.5692 5 | 2.92766 -5.56487 6 | 2.88676 -5.32142 7 | 2.9036 -5.19342 8 | 2.94798 -5.19482 9 | 2.8772 -4.92286 10 | 2.86516 -4.83131 11 | 2.86444 -4.76069 12 | 2.85199 -4.67234 13 | 2.86013 -4.61922 14 | 2.89801 -4.61445 15 | 2.9322 -4.60348 16 | 2.97666 -4.60822 17 | 3.01364 -4.60087 18 | 3.04954 -4.59157 19 | 3.09381 -4.59444 20 | 3.13656 -4.59445 21 | 3.1726 -4.58424 22 | 3.21381 -4.58112 23 | 3.24584 -4.56462 24 | 3.2924 -4.56818 25 | 3.33678 -4.5681 26 | 3.96241 -5.28194 27 | 3.97602 -5.23031 28 | 4.00561 -5.20012 29 | 4.05035 -5.18946 30 | 4.33063 -5.4051 31 | 4.40847 -5.43097 32 | 4.48427 -5.45297 33 | 4.56246 -5.47653 34 | 4.64757 -5.50695 35 | 4.72415 -5.52587 36 | 4.8195 -5.5652 37 | 4.91158 -5.59903 38 | 4.96908 -5.59229 39 | 5.04475 -5.6051 40 | 5.15582 -5.65561 41 | 5.21143 -5.64395 42 | 5.3033 -5.67051 43 | 5.38334 -5.68307 44 | 5.48798 -5.72009 45 | 4.74155 -2.67077 46 | 4.75236 -2.63711 47 | 4.77696 -2.61109 48 | 4.77677 -2.57159 49 | 4.79395 -2.54156 50 | 4.7932 -2.50217 51 | 4.81616 -2.47523 52 | 4.82827 -2.44269 53 | 4.83926 -2.40964 54 | 4.84734 -2.37524 55 | 4.85337 -2.33996 56 | 4.86185 -2.30598 57 | 4.87736 -2.27538 58 | 5.74961 -1.87624 59 | 5.64332 -1.80185 60 | 5.5411 -1.73038 61 | 5.41812 -1.65415 62 | 5.31835 -1.58672 63 | 5.22082 -1.52146 64 | 5.19675 -1.47858 65 | 5.1126 -1.41949 66 | 5.11382 -1.38479 67 | 5.11964 -1.35141 68 | 5.10297 -1.31228 69 | 5.14712 -1.28872 70 | 5.13579 -1.25116 71 | 5.14269 -1.21818 72 | 4.78011 -1.06814 73 | 4.78975 -1.0383 74 | 4.79627 -1.00775 75 | 4.8026 -0.977169 76 | 4.81658 -0.94809 77 | 4.82645 -0.918126 78 | 4.84105 -0.888977 79 | 4.82693 -0.854623 80 | 4.84213 -0.825527 81 | 4.86308 -0.797243 82 | 4.85918 -0.764839 83 | 4.87582 -0.735649 84 | 4.86358 -0.702134 85 | 4.88281 -0.673176 86 | 4.90386 -0.644262 87 | 5.33571 -0.631933 88 | 5.30981 -0.594581 89 | 4.93583 -0.489095 90 | 4.9488 -0.458555 91 | 4.95262 -0.427096 92 | 4.96022 -0.395926 93 | 4.96265 -0.364309 94 | 4.98283 -0.333882 95 | 5.00182 -0.303151 96 | 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0.650026 130 | 4.52952 0.678141 131 | 4.57153 0.714335 132 | 4.58069 0.745791 133 | 4.59259 0.777893 134 | 4.60525 0.810352 135 | 4.62162 0.843722 136 | 4.6515 0.879937 137 | 4.64971 0.910419 138 | 4.66144 0.943692 139 | 4.69348 0.98145 140 | 4.68809 1.01164 141 | 4.71569 1.04919 142 | 4.74886 1.08847 143 | 5.06496 1.22928 144 | 5.08611 1.26889 145 | 5.10792 1.30907 146 | 5.10525 1.34321 147 | 5.86165 1.66303 148 | 5.87491 1.70744 149 | 5.87825 1.74924 150 | 5.89374 1.79493 151 | 5.40724 1.7226 152 | 5.34002 1.73886 153 | 5.28894 1.7597 154 | 5.22741 1.77642 155 | 5.16304 1.79144 156 | 5.11755 1.81238 157 | 5.08047 1.83588 158 | 5.03579 1.85621 159 | 4.97983 1.87182 160 | 4.96216 1.90147 161 | 4.97133 1.94152 162 | 4.99784 1.98878 163 | 4.99059 2.02294 164 | 5.03209 2.07731 165 | 5.04729 2.12144 166 | 5.04925 2.16035 167 | 5.07293 2.20895 168 | 5.06145 2.24254 169 | 6.53202 3.04524 170 | 6.48984 3.07622 171 | 6.48806 3.12632 172 | 6.53261 3.25134 173 | 6.45405 3.31584 174 | 6.45754 3.36998 175 | 5.65555 3.32983 176 | 5.76979 3.44694 177 | 5.71086 3.46146 178 | 5.61621 3.45337 179 | 5.62881 3.5109 180 | 5.53105 3.49922 181 | 5.59441 3.58959 182 | 5.54873 3.61055 183 | 5.44311 3.6417 184 | 5.48096 3.71796 185 | 5.50158 3.78352 186 | 5.48138 3.82146 187 | 5.44051 3.84488 188 | 1.14469 7.90455 189 | 1.09236 7.89882 190 | 1.04159 7.90366 191 | 0.993035 7.92603 192 | 0.94365 7.94314 193 | 0.892413 7.94504 194 | -------------------------------------------------------------------------------- /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/data/pointcloud/637938961449188000.txt: -------------------------------------------------------------------------------- 1 | 0.201141 -7.87343 2 | 0.25339 -7.93395 3 | 0.303126 -7.90819 4 | 2.73915 -6.32539 5 | 2.77988 -6.30868 6 | 2.81397 -6.27712 7 | 2.8374 -6.22263 8 | 2.89685 -6.24702 9 | 2.98061 -6.32156 10 | 2.97293 -6.2023 11 | 2.98751 -6.13195 12 | 3.81258 -4.80778 13 | 3.8789 -4.82777 14 | 3.88566 -4.77344 15 | 3.88107 -4.70609 16 | 3.84884 -4.60678 17 | 3.86591 -4.56761 18 | 3.63146 -4.18114 19 | 3.60789 -4.1008 20 | 3.5841 -4.02169 21 | 3.54605 -3.92821 22 | 3.53124 -3.86194 23 | 3.57078 -3.85546 24 | 3.61106 -3.84935 25 | 3.63832 -3.82912 26 | 3.66963 -3.81301 27 | 3.70856 -3.80454 28 | 3.737 -3.78505 29 | 3.78089 -3.78091 30 | 3.81136 -3.76302 31 | 3.8482 -3.75117 32 | 3.89513 -3.74871 33 | 3.93566 -3.7396 34 | 3.96894 -3.72329 35 | 3.9985 -3.70331 36 | 4.75361 -4.2912 37 | 4.77195 -4.25278 38 | 4.78174 -4.20703 39 | 4.80171 -4.17051 40 | 4.83432 -4.14497 41 | 5.11938 -4.27717 42 | 5.19211 -4.28193 43 | 5.29224 -4.30803 44 | 5.3633 -4.30923 45 | 5.42596 -4.30285 46 | 5.51554 -4.31681 47 | 5.59364 -4.32063 48 | 5.67599 -4.32665 49 | 5.76184 -4.3342 50 | 5.81911 -4.31938 51 | 5.91192 -4.32999 52 | 5.99537 -4.33257 53 | 6.08642 -4.33948 54 | 6.18271 -4.34886 55 | 6.28019 -4.35775 56 | 6.39206 -4.37517 57 | 6.61388 -4.40403 58 | 4.9561 -1.60336 59 | 4.971 -1.57319 60 | 4.9628 -1.5358 61 | 4.96676 -1.50234 62 | 4.982 -1.4723 63 | 4.9817 -1.43768 64 | 4.97345 -1.40096 65 | 5.00158 -1.37448 66 | 4.99769 -1.33915 67 | 4.9926 -1.30367 68 | 4.99113 -1.2693 69 | 5.00787 -1.23957 70 | 4.98943 -1.20125 71 | 5.00576 -1.17141 72 | 5.87023 -0.601854 73 | 5.70971 -0.548578 74 | 5.60055 -0.50202 75 | 5.48804 -0.45663 76 | 5.36621 -0.412009 77 | 5.23905 -0.368611 78 | 5.14749 -0.329152 79 | 5.1425 -0.295875 80 | 5.04196 -0.225532 81 | 5.0303 -0.192835 82 | 5.04443 -0.161126 83 | 5.04335 -0.128862 84 | 5.00208 -0.0958511 85 | 4.6759 -0.0298757 86 | 4.672 -1.79659e-05 87 | 4.6609 0.029744 88 | 4.64762 0.0593387 89 | 4.65915 0.0892438 90 | 4.66448 0.119145 91 | 4.65563 0.148672 92 | 4.66458 0.178779 93 | 4.67333 0.209007 94 | 4.67689 0.239099 95 | 4.67926 0.269187 96 | 4.67046 0.298613 97 | 4.66946 0.3285 98 | 4.66826 0.358386 99 | 4.67086 0.388601 100 | 4.67227 0.418775 101 | 4.68344 0.449939 102 | 4.67549 0.479326 103 | 4.68626 0.510687 104 | 5.10818 0.622771 105 | 5.05649 0.649263 106 | 4.69925 0.664499 107 | 4.69096 0.693906 108 | 4.69335 0.724913 109 | 4.68467 0.754231 110 | 4.69653 0.786938 111 | 4.70224 0.818798 112 | 4.70282 0.849874 113 | 4.70418 0.881174 114 | 4.69551 0.910623 115 | 4.69647 0.941963 116 | 4.69329 0.972541 117 | 4.6909 1.00333 118 | 4.70881 1.03864 119 | 4.74969 1.11145 120 | 4.64625 1.11858 121 | 4.54388 1.12468 122 | 4.52498 1.15072 123 | 4.52818 1.18237 124 | 4.53792 1.21591 125 | 4.53392 1.24593 126 | 4.54224 1.27946 127 | 4.54839 1.3126 128 | 4.54087 1.3419 129 | 4.5504 1.37636 130 | 4.55489 1.40953 131 | 4.50862 1.42682 132 | 4.43091 1.43342 133 | 4.33337 1.43249 134 | 4.27771 1.44446 135 | 4.24665 1.46424 136 | 4.20609 1.48037 137 | 4.16455 1.49571 138 | 4.14459 1.51849 139 | 4.14698 1.54947 140 | 4.13514 1.57521 141 | 4.16042 1.61533 142 | 4.16025 1.64591 143 | 4.18211 1.68553 144 | 4.18052 1.71599 145 | 4.18332 1.74844 146 | 4.18219 1.77942 147 | 4.22121 1.82794 148 | 4.21403 1.85688 149 | 4.22125 1.89234 150 | 4.2291 1.92838 151 | 4.24119 1.9667 152 | 4.25387 2.00568 153 | 4.56683 2.22497 154 | 4.56418 2.25985 155 | 4.55412 2.29119 156 | 4.55454 2.32796 157 | 5.25684 2.77216 158 | 5.24168 2.80709 159 | 5.25088 2.85531 160 | 5.26931 2.90908 161 | 5.24365 2.93876 162 | 4.76575 2.75148 163 | 4.71961 2.76517 164 | 4.66919 2.77584 165 | 4.60171 2.77564 166 | 4.55148 2.78513 167 | 4.49452 2.78988 168 | 4.45038 2.802 169 | 4.40711 2.81421 170 | 4.34624 2.81458 171 | 4.32735 2.84172 172 | 4.33076 2.88371 173 | 4.31889 2.91578 174 | 4.34887 2.97662 175 | 4.33224 3.00604 176 | 4.34731 3.0578 177 | 4.35863 3.10756 178 | 4.35978 3.15055 179 | 4.37023 3.20078 180 | 5.69235 4.28186 181 | 5.58775 4.25932 182 | 5.5082 4.25456 183 | 5.47147 4.28225 184 | 5.4787 4.40188 185 | 5.49392 4.47213 186 | 5.51077 4.54466 187 | 4.85655 4.5559 188 | 4.67222 4.43941 189 | 4.63874 4.4643 190 | 4.57068 4.51263 191 | 4.5347 4.53465 192 | 4.51619 4.57419 193 | 4.33189 4.50108 194 | 4.45195 4.74565 195 | 4.44398 4.79819 196 | 4.38301 4.8553 197 | -------------------------------------------------------------------------------- /3rdparty/occmap/data/pointcloud/637938961436418060.txt: -------------------------------------------------------------------------------- 1 | 1.94549 -6.1475 2 | 1.98008 -6.12068 3 | 2.02446 -6.12406 4 | 2.0664 -6.11953 5 | 2.10255 -5.97379 6 | 2.12679 -5.92166 7 | 2.20344 -6.01406 8 | 2.09388 -5.49669 9 | 2.09781 -5.40304 10 | 2.11056 -5.33467 11 | 2.11991 -5.25987 12 | 2.12611 -5.17962 13 | 2.15644 -5.15948 14 | 2.20461 -5.18149 15 | 2.24123 -5.17557 16 | 2.2831 -5.18128 17 | 2.32964 -5.19671 18 | 2.36775 -5.19265 19 | 2.40675 -5.19013 20 | 2.45434 -5.2054 21 | 2.49271 -5.20045 22 | 2.53507 -5.2033 23 | 2.57623 -5.20314 24 | 2.62468 -5.21696 25 | 3.10305 -5.97644 26 | 3.13928 -5.95297 27 | 3.18572 -5.94867 28 | 3.44702 -6.24367 29 | 3.52055 -6.28173 30 | 3.60806 -6.34256 31 | 3.69199 -6.39474 32 | 3.76965 -6.43402 33 | 3.85256 -6.4803 34 | 3.91761 -6.49496 35 | 4.02112 -6.57132 36 | 4.07513 -6.56505 37 | 4.25766 -6.66755 38 | 4.34526 -6.7099 39 | 4.3773 -3.65717 40 | 4.40365 -3.63169 41 | 4.4314 -3.60728 42 | 4.44655 -3.57265 43 | 4.45752 -3.53486 44 | 4.47291 -3.50078 45 | 4.49755 -3.47398 46 | 4.53157 -3.45429 47 | 4.53036 -3.40785 48 | 4.5199 -3.35501 49 | 4.56705 -3.34499 50 | 4.59642 -3.32162 51 | 4.58985 -3.27246 52 | 5.51143 -3.08889 53 | 5.42074 -2.99274 54 | 5.33695 -2.90217 55 | 5.25135 -2.81232 56 | 5.16571 -2.72416 57 | 5.08715 -2.64135 58 | 5.05939 -2.58606 59 | 5.02488 -2.52808 60 | 5.01852 -2.48485 61 | 5.01271 -2.44224 62 | 5.04172 -2.41667 63 | 5.05343 -2.38272 64 | 5.07218 -2.35209 65 | 4.72767 -2.1194 66 | 4.75209 -2.09401 67 | 4.75986 -2.06124 68 | 4.77752 -2.03276 69 | 4.79317 -2.00337 70 | 4.81049 -1.97462 71 | 4.83043 -1.94686 72 | 4.84183 -1.91561 73 | 4.85396 -1.88465 74 | 4.86496 -1.85326 75 | 4.89824 -1.83021 76 | 4.90419 -1.79683 77 | 4.91839 -1.7665 78 | 4.92108 -1.73207 79 | 4.93393 -1.70126 80 | 5.36162 -1.77245 81 | 5.39947 -1.7468 82 | 5.04782 -1.56211 83 | 5.05195 -1.52811 84 | 5.05009 -1.49242 85 | 5.0797 -1.46597 86 | 5.08992 -1.43377 87 | 5.11343 -1.40522 88 | 5.12133 -1.37228 89 | 5.12419 -1.33803 90 | 5.15685 -1.31145 91 | 5.17095 -1.27994 92 | 5.20818 -1.25391 93 | 5.23352 -1.18952 94 | 5.13359 -1.13238 95 | 5.05858 -1.08201 96 | 5.09355 -1.02165 97 | 5.10488 -0.990054 98 | 5.12191 -0.959463 99 | 5.13384 -0.927805 100 | 5.16527 -0.899465 101 | 5.19359 -0.870266 102 | 5.21089 -0.838993 103 | 5.05796 -0.748234 104 | 5.00025 -0.707101 105 | 4.96007 -0.669142 106 | 4.92556 -0.632489 107 | 4.88185 -0.595216 108 | 4.88754 -0.564261 109 | 4.89999 -0.534016 110 | 4.92518 -0.504961 111 | 4.93229 -0.473885 112 | 4.9621 -0.444792 113 | 4.98577 -0.414839 114 | 5.00726 -0.38445 115 | 5.01959 -0.353171 116 | 5.09857 -0.293348 117 | 5.1253 -0.262063 118 | 5.14486 -0.230135 119 | 5.55119 -0.141837 120 | 5.59397 -0.107193 121 | 5.59354 -0.0714589 122 | 5.60389 -0.0358048 123 | 5.658 -2.17574e-05 124 | 5.68288 0.0362659 125 | 6.40483 0.122682 126 | 6.4279 0.164189 127 | 6.41273 0.204783 128 | 6.41929 0.246032 129 | 6.00815 0.307157 130 | 5.93319 0.341323 131 | 5.89197 0.376712 132 | 5.82959 0.410116 133 | 5.75407 0.441744 134 | 5.70728 0.474828 135 | 5.66828 0.508047 136 | 5.61913 0.539832 137 | 5.61358 0.575497 138 | 5.61675 0.612088 139 | 5.65842 0.653215 140 | 5.68788 0.693447 141 | 5.70318 0.732299 142 | 5.72415 0.772177 143 | 5.74287 0.812072 144 | 5.77813 0.854725 145 | 5.7765 0.892213 146 | 7.25187 1.3584 147 | 7.28134 1.4121 148 | 7.29374 1.46289 149 | 7.31265 1.51532 150 | 7.34194 1.57035 151 | 7.38547 1.62905 152 | 6.77582 1.862 153 | 6.61748 1.86402 154 | 6.66405 1.92315 155 | 6.55957 1.93845 156 | 6.53462 1.97653 157 | 6.50753 2.01379 158 | 6.50044 2.24135 159 | 6.51052 2.29144 160 | 3.29839 7.23347 161 | 3.2325 7.21058 162 | 3.19204 7.24389 163 | 3.15089 7.27605 164 | 3.11533 7.32179 165 | 3.06813 7.34061 166 | 3.01777 7.35172 167 | 2.96741 7.3625 168 | 2.69716 7.36145 169 | 2.60345 7.24864 170 | 2.55313 7.2538 171 | 2.52045 7.30966 172 | 2.48844 7.36919 173 | 0.877468 5.68063 174 | 0.838397 5.66732 175 | 0.753388 5.58441 176 | 0.71262 5.54943 177 | 0.670998 5.50324 178 | 0.6355 5.50444 179 | 0.595248 5.46166 180 | 0.557607 5.43849 181 | 0.412309 4.59956 182 | 0.38119 4.58117 183 | 0.349557 4.5526 184 | 0.318304 4.52382 185 | 0.286859 4.48584 186 | 0.257693 4.47859 187 | 0.227304 4.44519 188 | 0.196949 4.4026 189 | 0.167722 4.37479 190 | 0.139273 4.35978 191 | 0.110487 4.32359 192 | 0.0824366 4.30121 193 | 1.50045e-05 1.978 194 | --------------------------------------------------------------------------------