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KOKIAOKI / 3d_bbs

MIT License
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Add localization timeout #20

Closed KOKIAOKI closed 7 months ago

KOKIAOKI commented 7 months ago
coderabbitai[bot] commented 7 months ago

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Commits Files that changed from the base of the PR and between c753c1a040d8f8d3f96f6e70ba9b5224ec78ded6 and 1e8f46cb6e7dcddc5051fb7fcf59272b7e34eee3.

Walkthrough

The overarching change enhances the BBS3D system by significantly improving hierarchical voxelmap construction times and integrating timeout functionality across CPU and GPU modules. It also refines point cloud processing with better Eigen library usage and introduces functions for gravity alignment and format conversion. This update streamlines performance, extends flexibility in operation, and enriches point cloud manipulation capabilities.

Changes

File Path Change Summary
README.md Improved processing times for hierarchical voxelmap construction.
bbs3d/include/.../bbs3d.hpp
bbs3d/include/gpu_bbs3d/bbs3d.cuh
bbs3d/src/cpu_bbs3d/bbs3d.cpp
bbs3d/src/gpu_bbs3d/bbs3d.cu		 Added timeout functionality, elapsed time tracking, and timeout-related member variables.
bbs3d/include/.../voxelmaps.hpp
bbs3d/include/gpu_bbs3d/voxelmaps.cuh		 Switched from <Eigen/Core> to <Eigen/Dense>.
bbs3d/include/pointcloud_iof/gravity_alignment.hpp
bbs3d/include/pointcloud_iof/pcl_eigen_coverter.hpp		 Introduced new functions for gravity alignment and PCL-Eigen conversion.
bbs3d/src/gpu_bbs3d/calc_score.cu Corrected src_size_ variable usage.
ros2_test/iridescence/include/load.hpp
ros2_test/iridescence/include/ros2_test.hpp
ros2_test/rviz2/include/load_rviz2.hpp
ros2_test/rviz2/include/ros2_test_rviz2.hpp		 Added timeout_msec variable.
ros2_test/iridescence/include/util.hpp
ros2_test/rviz2/include/util.hpp		 Removed certain functions and refactored load_tar_clouds.
ros2_test/iridescence/src/gpu_bbs3d_iridescence/gpu_ros2_test_iridescence.cpp
ros2_test/rviz2/src/gpu_bbs3d_rviz2/gpu_ros2_test_rviz2.cpp		 Enhanced with timeout functionality, gravity alignment calculation, and improved output messages.
test/CMakeLists.txt Reorganized OpenMP-related CMake flags.
test/include/load_yaml.hpp
test/include/test.hpp		 Added timeout_msec parameter and removed usage of pcl library for GICP.
test/src/cpu_test.cpp
test/src/gpu_test.cpp		 Updated with new includes, replaced GICP instantiation, and added timeout handling.

🐇✨
In the realm of code where the voxel maps align,
A rabbit hopped through, making runtimes refine.
With a flick and a hop, timeouts now in place,
It left with a bounce, leaving no trace.
🚀🐾

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