search

KOKIAOKI / 3d_bbs

MIT License
172 stars 28 forks source link

feat: add cpu version, ros2_test, save hierarchical voxel map and load it directly #16

Closed KOKIAOKI closed 7 months ago

KOKIAOKI commented 7 months ago

Update

Summary by CodeRabbit

coderabbitai[bot] commented 7 months ago

Walkthrough

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.

Changes

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. 🌟🚀

Thank you for using CodeRabbit. We offer it for free to the OSS community and would appreciate your support in helping us grow. If you find it useful, would you consider giving us a shout-out on your favorite social media?

Share - [X](https://twitter.com/intent/tweet?text=I%20just%20used%20%40coderabbitai%20for%20my%20code%20review%2C%20and%20it%27s%20fantastic%21%20It%27s%20free%20for%20OSS%20and%20offers%20a%20free%20trial%20for%20the%20proprietary%20code.%20Check%20it%20out%3A&url=https%3A//coderabbit.ai) - [Mastodon](https://mastodon.social/share?text=I%20just%20used%20%40coderabbitai%20for%20my%20code%20review%2C%20and%20it%27s%20fantastic%21%20It%27s%20free%20for%20OSS%20and%20offers%20a%20free%20trial%20for%20the%20proprietary%20code.%20Check%20it%20out%3A%20https%3A%2F%2Fcoderabbit.ai) - [Reddit](https://www.reddit.com/submit?title=Great%20tool%20for%20code%20review%20-%20CodeRabbit&text=I%20just%20used%20CodeRabbit%20for%20my%20code%20review%2C%20and%20it%27s%20fantastic%21%20It%27s%20free%20for%20OSS%20and%20offers%20a%20free%20trial%20for%20proprietary%20code.%20Check%20it%20out%3A%20https%3A//coderabbit.ai) - [LinkedIn](https://www.linkedin.com/sharing/share-offsite/?url=https%3A%2F%2Fcoderabbit.ai&mini=true&title=Great%20tool%20for%20code%20review%20-%20CodeRabbit&summary=I%20just%20used%20CodeRabbit%20for%20my%20code%20review%2C%20and%20it%27s%20fantastic%21%20It%27s%20free%20for%20OSS%20and%20offers%20a%20free%20trial%20for%20proprietary%20code)
Tips ### Chat There are 3 ways to chat with CodeRabbit: - Review comments: Directly reply to a review comment made by CodeRabbit. Example: - `I pushed a fix in commit .` - `Generate unit-tests for this file.` - Files and specific lines of code (under the "Files changed" tab): Tag `@coderabbitai` in a new review comment at the desired location with your query. Examples: - `@coderabbitai generate unit tests for this file.` - `@coderabbitai modularize this function.` - PR comments: Tag `@coderabbitai` in a new PR comment to ask questions about the PR branch. For the best results, please provide a very specific query, as very limited context is provided in this mode. Examples: - `@coderabbitai generate interesting stats about this repository from git and render them as a table.` - `@coderabbitai show all the console.log statements in this repository.` - `@coderabbitai read src/utils.ts and generate unit tests.` - `@coderabbitai read the files in the src/scheduler package and generate a class diagram using mermaid and a README in the markdown format.` Note: Be mindful of the bot's finite context window. It's strongly recommended to break down tasks such as reading entire modules into smaller chunks. For a focused discussion, use review comments to chat about specific files and their changes, instead of using the PR comments. ### CodeRabbit Commands (invoked as PR comments) - `@coderabbitai pause` to pause the reviews on a PR. - `@coderabbitai resume` to resume the paused reviews. - `@coderabbitai review` to trigger a review. This is useful when automatic reviews are disabled for the repository. - `@coderabbitai resolve` resolve all the CodeRabbit review comments. - `@coderabbitai help` to get help. Additionally, you can add `@coderabbitai ignore` anywhere in the PR description to prevent this PR from being reviewed. ### CodeRabbit Configration File (`.coderabbit.yaml`) - You can programmatically configure CodeRabbit by adding a `.coderabbit.yaml` file to the root of your repository. - The JSON schema for the configuration file is available [here](https://coderabbit.ai/integrations/coderabbit-overrides.v2.json). - If your editor has YAML language server enabled, you can add the path at the top of this file to enable auto-completion and validation: `# yaml-language-server: $schema=https://coderabbit.ai/integrations/coderabbit-overrides.v2.json` ### CodeRabbit Discord Community Join our [Discord Community](https://discord.com/invite/GsXnASn26c) to get help, request features, and share feedback.
KOKIAOKI commented 7 months ago

v1.2.0 is scheduled to be released by January 28th.