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GridMap integration (#1180)

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* GridMap integration

* Removed GridGlobal/FullUpdate parameter. Bump version 0.21.3. Mvoed specialized global map classes under global_map sub dir. Renamed Map -> GlobalMap.

* UI: Added elevation map visualization

* Added LocalGridCache class to share cache between global maps

* Fixed OctoMap nans. DbViewer: Added frontiers visualization.

* convenient functions for ros

* Small fix

* fixed build without GridMap

* CI disabled fail-fast

* CI updated checkout action to v4
This commit is contained in:
matlabbe
2023-12-17 22:44:11 -08:00
committed by GitHub
parent 45392fcfc6
commit 71415992ac
44 changed files with 5332 additions and 4255 deletions
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32
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 21)
SET(RTABMAP_PATCH_VERSION 2)
SET(RTABMAP_PATCH_VERSION 3)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -203,7 +203,8 @@ option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
option(WITH_REALSENSE2 "Include RealSense support" ON)
option(WITH_MYNTEYE "Include mynteye-s support" ON)
option(WITH_DEPTHAI "Include depthai-core support" OFF)
option(WITH_OCTOMAP "Include Octomap support" ON)
option(WITH_OCTOMAP "Include OctoMap support" ON)
option(WITH_GRIDMAP "Include GridMap support" OFF)
option(WITH_CPUTSDF "Include CPUTSDF support" OFF)
option(WITH_OPENCHISEL "Include open_chisel support" OFF)
option(WITH_ALICE_VISION "Include AliceVision support" OFF)
@@ -660,6 +661,13 @@ IF(WITH_OCTOMAP)
ENDIF(octomap_FOUND)
ENDIF(WITH_OCTOMAP)
IF(WITH_GRIDMAP)
FIND_PACKAGE(grid_map_core QUIET)
IF(grid_map_core_FOUND)
MESSAGE(STATUS "Found grid_map_core ${grid_map_core_VERSION}: ${grid_map_core_INCLUDE_DIRS}")
ENDIF(grid_map_core_FOUND)
ENDIF(WITH_GRIDMAP)
IF(WITH_CPUTSDF)
FIND_PACKAGE(CPUTSDF QUIET)
IF(CPUTSDF_FOUND)
@@ -1002,6 +1010,12 @@ IF(NOT octomap_FOUND)
ELSE()
SET(CONF_WITH_OCTOMAP 1)
ENDIF()
IF(NOT grid_map_core_FOUND)
SET(GRIDMAP "//")
SET(CONF_WITH_GRIDMAP 0)
ELSE()
SET(CONF_WITH_GRIDMAP 1)
ENDIF()
IF(NOT CPUTSDF_FOUND)
SET(CPUTSDF "//")
ENDIF()
@@ -1474,11 +1488,19 @@ ENDIF()
MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)
MESSAGE(STATUS " With OCTOMAP ${octomap_VERSION} = YES (License: BSD)")
MESSAGE(STATUS " With OctoMap ${octomap_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
MESSAGE(STATUS " With OCTOMAP = NO (WITH_OCTOMAP=OFF)")
MESSAGE(STATUS " With OctoMap = NO (WITH_OCTOMAP=OFF)")
ELSE()
MESSAGE(STATUS " With OCTOMAP = NO (octomap not found)")
MESSAGE(STATUS " With OctoMap = NO (octomap not found)")
ENDIF()
IF(grid_map_core_FOUND)
MESSAGE(STATUS " With GridMap ${grid_map_core_VERSION} = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
MESSAGE(STATUS " With GridMap = NO (WITH_GRIDMAP=OFF)")
ELSE()
MESSAGE(STATUS " With GridMap = NO (octomap not found)")
ENDIF()
IF(CPUTSDF_FOUND)