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KOKIAOKI / 3d_bbs

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Feature/add icra2024 #30

Closed KOKIAOKI closed 4 months ago

KOKIAOKI commented 4 months ago

Renewed the readme for icra2024

Summary by CodeRabbit

coderabbitai[bot] commented 4 months ago

Walkthrough

The recent updates focus on enhancing the clarity and visual appeal of documentation related to a 3D-BBS project. Changes include the addition of emojis to headings, improved formatting, and more detailed guidance for using 3D point cloud data and integrating with CMake projects. These modifications aim to increase usability and readability.

Changes

File Path Summary of Changes
README.md Updated headings with emojis, modified section titles.
ros2_test/.../ros2_test_code.md Minor adjustments in introductory text for clarity.
test/test_code.md Updated headings, clarified test instructions and data handling guidance.

🐰✨ In docs so bright and new, Changes small and headings gleam, Emojis dance in lines of code, Making 3D-BBS a coder's dream. 🌟📋🤖🌈

Recent Review Details **Configuration used: CodeRabbit UI** **Review profile: CHILL**
Commits Files that changed from the base of the PR and between 9377ad62a8d020c38acc5143b19690facf99e361 and ba6e720f6459743efc68ed1d2cb1a57f1c3fd487.
Files selected for processing (2) * README.md (4 hunks) * ros2_test/ros2_test_code.md (1 hunks)
Additional Context Used
LanguageTool (49)
README.md (31)
Near line 23: Possible missing comma found. Context: ...0%"> ### Task - 3D global localization for such as robot's initial pose estimation... --- Near line 23: There seems to be a noun/verb agreement error. Did you mean “poses” or “posed”? Context: ...ocalization for such as robot's initial pose estimation ### Input - A single 3D L... --- Near line 31: The currency mark is usually put at the beginning of the number. Context: ...t point cloud map ### Output - $4\times4$ transformation matrix about coarse sens... --- Near line 34: Possible spelling mistake found. Context: ... algorithm** based on branch-and-bound (BnB) scan matching - **Fast processing (lat... --- Near line 35: Possible spelling mistake found. Context: ... 20 ms ~)** by proposed GPU-accelerated BnB and roto-translational branching - **No... --- Near line 35: Possible spelling mistake found. Context: ...)** by proposed GPU-accelerated BnB and roto-translational branching - **No initial pose** (we ass... --- Near line 37: Possible spelling mistake found. Context: ...d by IMU for faster processing) - **Low voxelmap memory consumption** due to sparse hash... --- Near line 42: Possible spelling mistake found. Context: ...ick here!
- Optional **Voxelmap pre-construction** and direct read func... --- Near line 53: Possible spelling mistake found. Context: ...rmance on our test data: - Hierarchical voxelmap construction - Paper: 9,272 ms on ave... --- Near line 56: Possible spelling mistake found. Context: ...*: 3,494 ms on average - **Load saved voxelmaps directly**: 130 ms on average (See [ste... --- Near line 56: Possible spelling mistake found. Context: ...this page](./test/test_code.md) to save voxelmaps) - Global localization - Paper: 878 m... --- Near line 64: Possible typo detected. Context: ...e as in the paper. ## ✅ Dependencies - bbs3d (Lower versions are not tested) - CMa... --- Near line 67: Possible spelling mistake found. Context: ... CMake - Eigen3 (3.4.0 or higher) - OpenMP - CUDA (12.0 or higher) - test - (A... --- Near line 68: Possible spelling mistake found. Context: ...Eigen3 (3.4.0 or higher) - OpenMP - CUDA (12.0 or higher) - test - (All bbs3d ... --- Near line 70: Possible typo detected. Context: ...- CUDA (12.0 or higher) - test - (All bbs3d dependencies) - PCL - ros2_test - (... --- Near line 73: Possible typo detected. Context: ...endencies) - PCL - ros2_test - (All bbs3d dependencies) - ros2 humble ### Supp... --- Near line 78: Possible spelling mistake found. Context: ...ros2 humble ### Support Docker 🐳 If nvidia driver is 525.60.11 or higher, try dock... --- Near line 79: Unpaired symbol: ‘]’ seems to be missing Context: ...! For more information, you can check [docker_start.md](./docker/docker_start.m... --- Near line 90: Possible spelling mistake found. Context: ..._bbs mkdir build && cd build ``` - CPU ver. & GPU ver. (Please ignore the large nu... --- Near line 90: Possible spelling mistake found. Context: ...build && cd build ``` - CPU ver. & GPU ver. (Please ignore the large number of war... --- Near line 97: Possible spelling mistake found. Context: ...se make -j sudo make install ``` - CPU ver. only ```shell script cmake .. -DCMAKE_... --- Near line 97: This sentence does not start with an uppercase letter. Context: ...ke -j sudo make install ``` - CPU ver. only ```shell script cmake .. -DCMAKE_BUILD_... --- Near line 105: Unpaired symbol: ‘]’ seems to be missing Context: ...o make install ``` ## 📋 Test code See [test_code.md](./test/test_code.md) ## 🤖 ROS 2 test code See [ros2_test_code.md](./ros2_test/ros2_test... --- Near line 113: Possible spelling mistake found. Context: ...width="40%"> ## 💻 Use 3D-BBS in your cmake project
Click here! ... --- Near line 116: Possible spelling mistake found. Context: ...y> Click here!
1. Copy `test/cmake` to your project directory 1. Copy desc... --- Near line 118: Only proper nouns start with an uppercase character (there are exceptions for headlines). Context: ...eLists.txt` to `your CMakeLists.txt` 1. Add either of the following depending on yo... --- Near line 119: Possible spelling mistake found. Context: ...n If you use the CPU version, replace `gpu` with `cpu`. ``` find_package(Eigen3 RE... --- Near line 119: Possible spelling mistake found. Context: ...use the CPU version, replace `gpu` with `cpu`. ``` find_package(Eigen3 REQUIRED) tar... --- Near line 128: This sentence does not start with an uppercase letter. Context: ...enerously sharing their public code. [hdl_global_localization](https://github.com... --- Near line 130: Possible spelling mistake found. Context: ...m/cartographer-project/cartographer) [TEASER-plusplus](https://github.com/MIT-SPARK/TEASER-pl...
ros2_test/ros2_test_code.md (18)
Near line 1: Only proper nouns start with an uppercase character (there are exceptions for headlines). Context: # ROS 2 Test code Experience the real-time global localization visua... --- Near line 16: Possible typo: you repeated a word Context: ...Installed 3D-BBS - ROS 2 humble ### 1. Build - Build ros2_test_rviz2 and click_loc ```shell ... --- Near line 17: Possible spelling mistake found. Context: ...Build - Build ros2_test_rviz2 and click_loc ```shell script cd 3d_bbs/ros2_test col... --- Near line 24: Did you mean “3D”(= three-dimensional) or “3rd” (= third)? Context: ...nfig file setting Config file format is 3d_bbs/ros2_test/config/ros2_test.yaml Pl... --- Near line 24: Possible spelling mistake found. Context: ...g file setting Config file format is 3d_bbs/ros2_test/config/ros2_test.yaml Please... --- Near line 26: Possible spelling mistake found. Context: ...t** folder path to **target_clouds** in yaml file. ```yaml ## Folder Paths target_cl... --- Near line 63: Possible spelling mistake found. Context: ...png" width="50%"> **5. (Optional) Load voxelmap coordinates directly** You can save t... --- Near line 64: Possible spelling mistake found. Context: ...ordinates directly** You can save the voxelmaps coordinates and skip 3D-BBS voxel const... --- Near line 65: Unpaired symbol: ‘]’ seems to be missing Context: ...max_level`. Please refer to step 5 of [test_code.md](./test/test_code.md) Aft... --- Near line 66: Possible spelling mistake found. Context: ..../test/test_code.md) After saving the voxelmaps, please try 3. Run again.
**5. (Optional) Load voxelmap coordinates directly** You can save t... --- Near line 145: Possible spelling mistake found. Context: ...ordinates directly** You can save the voxelmaps coordinates and skip 3D-BBS voxel const... --- Near line 147: Possible spelling mistake found. Context: ...](./test/test_code.md) After saving the voxelmaps, please try 3. Run again.
Additional comments not posted (5)
README.md (4)
`63-63`: Ensure there is a blank line above the heading for consistent markdown formatting. --- `81-81`: Ensure there is a blank line above the heading for consistent markdown formatting. --- `113-113`: Ensure there is a blank line above the heading for consistent markdown formatting. --- `126-126`: Ensure there is a blank line above the heading for consistent markdown formatting.
ros2_test/ros2_test_code.md (1)
`2-2`: Correct the spelling of "Experience".
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