Closed KOKIAOKI closed 7 months ago
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Files that changed from the base of the PR and between c753c1a040d8f8d3f96f6e70ba9b5224ec78ded6 and 1e8f46cb6e7dcddc5051fb7fcf59272b7e34eee3.
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.
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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