Localization in 3D clouds #211
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* ubuntu22.04/jetpack6 * repo fixes
* feat: add cloud filters * fix: update filters * fix: minor improvements * LiDAR map (serializer for .pcd format) (#185) feat: add serialization to .pcd format * LiDAR map (pose graph optimization logger) (#187) feat: add bag writer class add ability to log pose graph optimization Signed-off-by: Andrey Milko <[email protected]> --------- Signed-off-by: Andrey Milko <[email protected]>
added function for counting icp values of edges --------- Co-authored-by: PostRed <[email protected]>
* change LaserScan to sensor_msgs::msg::PointCloud2 * finished replacing 3D matrices with 4D ones --------- Co-authored-by: PostRed <[email protected]>
* convert pose graph info to json --------- Co-authored-by: PostRed <[email protected]> Co-authored-by: apmilko <[email protected]>
* feat: fast mcap reader * pre-commit fixes
* feat: create route_follower package * feat: add proper topic handlers * routing node: fix transforms * feat: create route_follower package * feat: add proper topic handlers * feat: mvp route_follower * refactor: extracted trajectory creation logic * * fix: publish grid cost map * feat: publish on timer, not on subscription * style: format files * - feat: add PolylineIndex class. - feat: introduce concepts in the common package - feat: add generalized template for linear interpolation. * style: fix linter errors * - refactor: split PolylineIndex-related structs into different headers * test: add basic test * fix: resolve several PR conversations - refactor MotionState to be more consistent with the Pose - add dist field to AdvanceResult - refined PolyLineIndex interface - add more tests for PolyLineIndex - refactor makeTrajectory in route_follower_node.cpp * refactor: reverted lerp<V> to interpolate overloads * refactor: refined polyline index - separate interfaces for getting distance and state - changed logic of advance and advanceFromBegin * fix: small edits of routefollower * refactor: completely dissociated lerp and it's derivatives * fix: remove concepts from the common package * refactor: general improvements and fixes * fix: uncomment lines that include icp_odometry in truck/launch/slam.yaml * style: refine comment text --------- Co-authored-by: apmilko <[email protected]>
* add normals and outliers * start pr fixes * finish pr fixes * remove lines * add two functions for normals and weights * fix * formatting * add toPointCloud for cloud with weights * fixes * fixes 2 * fixes 3 * fixes 4 --------- Signed-off-by: Anаstasiya <[email protected]> Co-authored-by: PostRed <[email protected]> Co-authored-by: apmilko <[email protected]>
* add intensity filter to function ToCloud * fix: change format of const variable Signed-off-by: Andrey Milko <[email protected]> --------- Signed-off-by: Andrey Milko <[email protected]> Co-authored-by: PostRed <[email protected]> Co-authored-by: Andrey Milko <[email protected]>
* use rtee for icp edges * small fix (remove break from loop + remove filter param) * pr fixes * remove ktree number * pr fixes * small fix --------- Co-authored-by: PostRed <[email protected]>
…ive (#209) Co-authored-by: PostRed <[email protected]>
Signed-off-by: Anаstasiya <[email protected]> Co-authored-by: PostRed <[email protected]>
Signed-off-by: Anаstasiya <[email protected]> Co-authored-by: PostRed <[email protected]>
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Тут реализована локализация в 3D, работает довольно медленно, нужно решить будем ли что-то тут делать |
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Насколько медленно? Мне кажется надо хотя бы 5 Hz выжать |
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