Closed KOKIAOKI closed 7 months ago
The project has undergone significant enhancements, integrating OpenMP and CUDA for improved performance on both CPU and GPU. It now supports 3D point cloud processing with faster hierarchical voxelmap construction and localization times. The updates also extend to the handling of point cloud data, with new classes and methods for efficient management and operation. Additionally, the ROS2 integration has been refined for better visualization and interaction, particularly with the Rviz2 and Iridescence viewers.
File Path | Change Summary |
---|---|
CMakeLists.txt , test/CMakeLists.txt |
Added OpenMP and CUDA support, shared library creation, and installation adjustments. Updated CMake configuration. |
README.md , test/test_code.md , ros2_test/ros2_test_code.md |
Updated processing times, dependencies, and test instructions. Provided instructions for building, configuring, and running tests on CPU and GPU. |
bbs3d/include/.../bbs3d.hpp , bbs3d/include/.../bbs3d.cuh |
Introduced BBS3D class and methods for point cloud registration and localization. |
bbs3d/include/.../voxelmaps.hpp , bbs3d/include/.../voxelmaps.cuh |
Added VoxelMaps classes for voxel map creation and management. |
bbs3d/include/pointcloud_iof/... |
Implemented functionality for point cloud data filtering, reading, writing, and loading. |
bbs3d/src/.../bbs3d.cpp , bbs3d/src/.../bbs3d.cu |
Provided BBS3D class functionality for CPU and GPU with method modifications. |
bbs3d/src/.../discreate_transformation.cpp , bbs3d/src/.../calc_score.cu |
Added discrete transformation handling and score calculation improvements. |
bbs3d/src/.../voxelmaps.cpp , bbs3d/src/.../voxelmaps.cu |
Developed VoxelMaps class functionality for CPU and GPU with new methods. |
bbs3d/src/.../voxelmaps_io.cpp , bbs3d/src/.../voxelmaps_io.cu |
Implemented voxel map handling functions, including PCD format support. |
ros2_test/.../.gitignore |
Specified files and directories for Git to ignore. |
ros2_test/click_loc/.../click_loc.py |
Created a ROS2 node for publishing messages on /click_loc . |
ros2_test/iridescence/... , ros2_test/rviz2/... |
Built and linked ROS 2 packages for visualization and testing with CUDA support. |
test/include/... , ros2_test/iridescence/include/util.hpp , ros2_test/rviz2/include/util.hpp |
Updated configuration loading, removed and added functions for point cloud processing. |
test/src/... , ros2_test/iridescence/src/gpu_bbs3d_iridescence/gpu_ros2_test_iridescence.cpp , ros2_test/rviz2/src/gpu_bbs3d_rviz2/gpu_ros2_test_rviz2.cpp |
Added testing functionality for 3D localization on CPU and GPU, and voxel map saving. Developed classes for ROS2 integration with point cloud and IMU data handling. |
🐇✨ To code, to build, to merge and to test, A rabbit's quest for software at its best. Through voxel maps and clouds of points, We hop and leap to join the joints. 🌟🚀
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v1.2.0 is scheduled to be released by January 28th.
Update
Summary by CodeRabbit
New Features
Improvements
calc_scores_kernel
function.Bug Fixes
Documentation
Refactor
gpu_bbs3d
package withcpu_bbs3d
in test configurations.Chores
.gitignore
files to exclude irrelevant directories and files from Git tracking.