Ndt map visualization #453

Fernando-Sanz · 2024-12-03T16:22:54Z

Proposed changes

NDT map visualization publisher. It uses ellipsoids to represent obstacles placed using the mean and the covariance matrix of each cell.

Obstacle representation made with green ellipsoids (scale factor is used).

Type of change

🐛 Bugfix (change which fixes an issue)
🚀 Feature (change which adds functionality)
📚 Documentation (change which fixes or extends documentation)

Checklist

Lint and unit tests (if any) pass locally with my changes
I have added tests that prove my fix is effective or that my feature works
I have added necessary documentation (if appropriate)
All commits have been signed for DCO

beluga_amcl/include/beluga_amcl/ndt_amcl_node_3d.hpp

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

ivanpauno · 2024-12-05T15:26:08Z

@Fernando-Sanz Linters are failing, check https://github.com/Ekumen-OS/beluga/blob/main/CONTRIBUTING.md#how-do-i-submit-a-good-code-contribution to install pre-commit.
After those steps, linters will run automatically each time you run git commit.
Run pre-commit run -a to fix your previous commits.

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

ivanpauno

Looks quite solid!

Could you upload a video or image of how the map is looking?

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

beluga_amcl/src/ndt_amcl_node_3d.cpp

beluga_amcl/include/beluga_amcl/ndt_amcl_node_3d.hpp

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

hidmic

Second pass

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

hidmic · 2024-12-13T13:59:26Z

Indeed, linters are not happy.

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

nahueespinosa

This is great! @Fernando-Sanz left some minor comments.

beluga_amcl/src/ndt_amcl_node_3d.cpp

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

beluga_amcl/src/ndt_amcl_node_3d.cpp

beluga_ros/src/ndt_ellipsoid.cpp

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

beluga_ros/src/ndt_ellipsoid.cpp

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

nahueespinosa

Almost there, only the documentation step is failing.

beluga_ros/include/beluga_ros/ndt_ellipsoid.hpp

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

nahueespinosa

LGTM!

ivanpauno · 2025-01-22T17:59:15Z

@Fernando-Sanz you have linter failing

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

ivanpauno · 2025-01-23T17:11:33Z

We need to fix this CI job, independently of this PR

### Proposed changes NDT map visualization publisher. It uses ellipsoids to represent obstacles placed using the mean and the covariance matrix of each cell. ![ndt_map_visualization_enlarged](https://github.com/user-attachments/assets/a0cf6859-3862-47a1-8e14-ee4f72705938) >Obstacle representation made with green ellipsoids (scale factor is used). #### Type of change - [ ] 🐛 Bugfix (change which fixes an issue) - [x] 🚀 Feature (change which adds functionality) - [ ] 📚 Documentation (change which fixes or extends documentation) ### Checklist - [ ] Lint and unit tests (if any) pass locally with my changes - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have added necessary documentation (if appropriate) - [x] All commits have been signed for [DCO](https://developercertificate.org/) --------- Signed-off-by: Fernando <sanz.fernando172@gmail.com> Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com> Signed-off-by: Marcos Huck <marcoshuck@ekumenlabs.com>

Fernando-Sanz force-pushed the ndt_map_visualization branch from c766cc5 to fb2ae87 Compare December 3, 2024 16:33

ivanpauno reviewed Dec 3, 2024

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ivanpauno reviewed Dec 4, 2024

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Fernando-Sanz added 5 commits December 4, 2024 16:05

Update README (test commit)

ce99980

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Initial map visualization

cea0e81

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Complete ndt map visualization publisher

5e2c033

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Suggested changes

68d9554

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Suggested changes

d383820

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Fernando-Sanz force-pushed the ndt_map_visualization branch from ec0a0e8 to d383820 Compare December 4, 2024 16:07

ivanpauno reviewed Dec 5, 2024

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Use covariance matrix for rotation and scale

330f8a9

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

ivanpauno reviewed Dec 6, 2024

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Fernando-Sanz added 3 commits December 9, 2024 16:11

Fix error and suggested changes

a46ddbd

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Add documentation

3eef273

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Add eigen error handling

1c62da9

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Fernando-Sanz requested a review from ivanpauno December 10, 2024 16:18

ivanpauno reviewed Dec 11, 2024

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ivanpauno reviewed Dec 11, 2024

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hidmic reviewed Dec 11, 2024

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Fernando-Sanz added 2 commits December 11, 2024 16:19

Scale factor and other suggested changes

72aeac3

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Update documentation and eigen solver usage

679a70d

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

ivanpauno reviewed Dec 12, 2024

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Fernando-Sanz added 2 commits December 12, 2024 16:22

Boolean function and suggested changes

36dd062

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

isApprox function

1d30dcf

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

hidmic reviewed Dec 13, 2024

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Fernando-Sanz added 5 commits December 13, 2024 17:01

Warning message, scale factor and other suggested changes

57e2514

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Change to LifecyclePublisher

c28940f

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Create .cpp file

8f398f6

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Separate creation, loading and publishing

f2c4fb8

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Change permutation order

3c0516e

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

Fernando-Sanz requested a review from ivanpauno January 9, 2025 13:05

Fix linter errors

6421a3f

Signed-off-by: Fernando <sanz.fernando172@gmail.com>

ivanpauno approved these changes Jan 20, 2025

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ivanpauno marked this pull request as ready for review January 20, 2025 15:18

nahueespinosa reviewed Jan 20, 2025

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Fernando-Sanz added 2 commits January 21, 2025 16:32

Suggested changes

3951e55

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

Fix CI errors

4bfacf0

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

nahueespinosa reviewed Jan 22, 2025

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Fernando-Sanz added 2 commits January 22, 2025 15:34

Docstrings and detail namespace

66db8c0

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

Fix docstring error

db07439

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

nahueespinosa approved these changes Jan 22, 2025

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ivanpauno approved these changes Jan 22, 2025

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Fix linter errors

6d4f8aa

Signed-off-by: Fernando-Sanz <sanz.fernando172@gmail.com>

ivanpauno approved these changes Jan 23, 2025

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ivanpauno merged commit 707b864 into Ekumen-OS:main Jan 23, 2025
6 of 7 checks passed

nahueespinosa mentioned this pull request Jan 29, 2025

Implement visualization for 3D NDT maps #425

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Ndt map visualization #453

Ndt map visualization #453

Fernando-Sanz commented Dec 3, 2024 •

edited

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ivanpauno commented Jan 23, 2025

Ndt map visualization #453

Ndt map visualization #453

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Fernando-Sanz commented Dec 3, 2024 • edited Loading

Proposed changes

Type of change

Checklist

ivanpauno commented Dec 5, 2024

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hidmic commented Dec 13, 2024

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ivanpauno commented Jan 22, 2025

ivanpauno commented Jan 23, 2025

Fernando-Sanz commented Dec 3, 2024 •

edited

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