From 4f2f711487759b7eb85d9f44b933b5a1a98832af Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 27 Sep 2022 19:08:07 +0900 Subject: [PATCH] refactor: move occ_grid_map package to perception folder Signed-off-by: Yoshi Ri --- .../CMakeLists.txt | 51 +++ .../README.md | 11 + .../image/bresenham.svg | 3 + ..._based_occupancy_grid_map_sample_image.png | Bin 0 -> 294783 bytes ...ointcloud_based_occupancy_grid_map_bev.svg | 4 + ..._based_occupancy_grid_map_sample_image.gif | Bin 0 -> 4035306 bytes ...oud_based_occupancy_grid_map_side_view.svg | 4 + ...based_occupancy_grid_map_side_view_1st.svg | 4 + ...based_occupancy_grid_map_side_view_2nd.svg | 4 + ...based_occupancy_grid_map_side_view_3rd.svg | 4 + .../image/update_with_pointcloud.svg | 3 + .../include/cost_value.hpp | 77 ++++ ...aserscan_based_occupancy_grid_map_node.hpp | 101 +++++ .../occupancy_grid_map.hpp | 94 ++++ .../occupancy_grid_map.hpp | 94 ++++ ...intcloud_based_occupancy_grid_map_node.hpp | 87 ++++ ...y_grid_map_binary_bayes_filter_updater.hpp | 48 ++ .../occupancy_grid_map_updater_interface.hpp | 39 ++ .../laserscan-based-occupancy-grid-map.md | 78 ++++ ...serscan_based_occupancy_grid_map.launch.py | 139 ++++++ ...ntcloud_based_occupancy_grid_map.launch.py | 93 ++++ .../package.xml | 41 ++ .../pointcloud-based-occupancy-grid-map.md | 106 +++++ ...aserscan_based_occupancy_grid_map_node.cpp | 283 ++++++++++++ .../occupancy_grid_map.cpp | 252 +++++++++++ .../occupancy_grid_map.cpp | 411 ++++++++++++++++++ ...intcloud_based_occupancy_grid_map_node.cpp | 225 ++++++++++ ...y_grid_map_binary_bayes_filter_updater.cpp | 60 +++ 28 files changed, 2316 insertions(+) create mode 100644 perception/probabilistic_occupancy_grid_map/CMakeLists.txt create mode 100644 perception/probabilistic_occupancy_grid_map/README.md create mode 100644 perception/probabilistic_occupancy_grid_map/image/bresenham.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/laserscan_based_occupancy_grid_map_sample_image.png create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_bev.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_sample_image.gif create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_1st.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_2nd.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/pointcloud_based_occupancy_grid_map_side_view_3rd.svg create mode 100644 perception/probabilistic_occupancy_grid_map/image/update_with_pointcloud.svg create mode 100644 perception/probabilistic_occupancy_grid_map/include/cost_value.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/occupancy_grid_map.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/include/updater/occupancy_grid_map_updater_interface.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/laserscan-based-occupancy-grid-map.md create mode 100644 perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py create mode 100644 perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py create mode 100644 perception/probabilistic_occupancy_grid_map/package.xml create mode 100644 perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md create mode 100644 perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp create mode 100644 perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp create mode 100644 perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp create mode 100644 perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp create mode 100644 perception/probabilistic_occupancy_grid_map/src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt new file mode 100644 index 0000000000000..89906f86c5ce5 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 3.14) +project(probabilistic_occupancy_grid_map) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(eigen3_cmake_module REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIR} +) + +# PointcloudBasedOccupancyGridMap +ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED + src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp + src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp + src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp +) + +target_link_libraries(pointcloud_based_occupancy_grid_map + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(pointcloud_based_occupancy_grid_map + PLUGIN "occupancy_grid_map::PointcloudBasedOccupancyGridMapNode" + EXECUTABLE pointcloud_based_occupancy_grid_map_node +) + +# LaserscanBasedOccupancyGridMap +ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED + src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp + src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp + src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp +) + +target_link_libraries(laserscan_based_occupancy_grid_map + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(laserscan_based_occupancy_grid_map + PLUGIN "occupancy_grid_map::LaserscanBasedOccupancyGridMapNode" + EXECUTABLE laserscan_based_occupancy_grid_map_node +) + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md new file mode 100644 index 0000000000000..c0de3fc4b38e1 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -0,0 +1,11 @@ +# probabilistic_occupancy_grid_map + +## Purpose + +This package outputs the probability of having an obstacle as occupancy grid map. +![pointcloud_based_occupancy_grid_map_sample_image](./image/pointcloud_based_occupancy_grid_map_sample_image.gif) + +## References/External links + +- [Pointcloud based occupancy grid map](pointcloud-based-occupancy-grid-map.md) +- [Laserscan based occupancy grid map](laserscan-based-occupancy-grid-map.md) diff --git a/perception/probabilistic_occupancy_grid_map/image/bresenham.svg b/perception/probabilistic_occupancy_grid_map/image/bresenham.svg new file mode 100644 index 0000000000000..61b107efe3f9e --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/image/bresenham.svg @@ -0,0 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