[wip/ros-aicp-mapping] Initial Import

ros-aicp-mapping/DESCR

+Auto-tuned Iterative Closest Point (AICP) is a module for laser-based localization and mapping (Nobili et al., ICRA 2017). The implementation of AICP includes a module for localization failure prediction (Nobili et al., ICRA 2018). The registration strategy is based on the libpointmatcher framework (Pomerleau et al., AR 2012).

ros-aicp-mapping/Makefile

+# robotpkg Makefile for:	wip/ros-aicp-mapping
+# Created:			Guilhem Saurel on Fri, 24 Jan 2020
+#
+
+ROS_PKG=		aicp_mapping
+ROS_METAPKG=		yes
+ROS_VERSION=		0.0.1
+ROS_REPO=		ori-drs
+
+HOMEPAGE=		${MASTER_SITE_GITHUB:=${ROS_REPO}/${ROS_PKG}}
+MASTER_SITES=		${HOMEPAGE}/archive/
+MASTER_REPOSITORY=	git ${HOMEPAGE}.git
+
+CATEGORIES=		wip
+ROS_COMMENT=		Auto-tuned Iterative Closest Point -- AICP
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../wip/libnabo/depend.mk
+include ../../wip/libpointmatcher/depend.mk
+
+include ../../interfaces/ros-common-msgs/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+include ../../lang/ros-message-generation/depend.mk
+include ../../math/ros-geometry/depend.mk
+include ../../middleware/ros-comm/depend.mk
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/language/c++11.mk
+include ../../mk/robotpkg.mk

ros-aicp-mapping/PLIST

+@comment Fri Jan 24 19:27:04 CET 2020
+include/aicp_core/abstract_classification.hpp
+include/aicp_core/abstract_overlapper.hpp
+include/aicp_core/abstract_registrator.hpp
+include/aicp_core/aligned_cloud.hpp
+include/aicp_core/aligned_clouds_graph.hpp
+include/aicp_core/app.hpp
+include/aicp_core/classification.hpp
+include/aicp_core/common.hpp
+include/aicp_core/filteringUtils.hpp
+include/aicp_core/octrees_overlap.hpp
+include/aicp_core/overlap.hpp
+include/aicp_core/pointmatcher_registration.hpp
+include/aicp_core/poseFileReader.hpp
+include/aicp_core/registration.hpp
+include/aicp_core/svm.hpp
+include/aicp_core/timing.hpp
+include/aicp_core/visualizer.hpp
+include/aicp_core/yaml_configurator.hpp
+include/aicp_ros/app_ros.hpp
+include/aicp_ros/talker_ros.hpp
+include/aicp_ros/velodyne_accumulator.hpp
+include/aicp_ros/visualizer_ros.hpp
+include/aicp_srv/ProcessFile.h
+include/aicp_srv/ProcessFileRequest.h
+include/aicp_srv/ProcessFileResponse.h
+lib/libaicp_core.so
+lib/libaicp_ros.so
+lib/pkgconfig/aicp_core.pc
+lib/pkgconfig/aicp_ros.pc
+lib/pkgconfig/aicp_srv.pc
+${PYTHON_SITELIB}/aicp_srv/__init__.py
+${PYTHON_SITELIB}/aicp_srv/srv/_ProcessFile.py
+${PYTHON_SITELIB}/aicp_srv/srv/__init__.py
+share/aicp_core/cmake/aicp_coreConfig-version.cmake
+share/aicp_core/cmake/aicp_coreConfig.cmake
+share/aicp_core/package.xml
+share/aicp_ros/cmake/aicp_rosConfig-version.cmake
+share/aicp_ros/cmake/aicp_rosConfig.cmake
+share/aicp_ros/package.xml
+share/aicp_srv/cmake/aicp_srv-msg-extras.cmake
+share/aicp_srv/cmake/aicp_srv-msg-paths.cmake
+share/aicp_srv/cmake/aicp_srvConfig-version.cmake
+share/aicp_srv/cmake/aicp_srvConfig.cmake
+share/aicp_srv/package.xml
+share/aicp_srv/srv/ProcessFile.srv
+share/common-lisp/ros/aicp_srv/srv/ProcessFile.lisp
+share/common-lisp/ros/aicp_srv/srv/_package.lisp
+share/common-lisp/ros/aicp_srv/srv/_package_ProcessFile.lisp
+share/common-lisp/ros/aicp_srv/srv/aicp_srv-srv.asd

ros-aicp-mapping/depend.mk

+# robotpkg depend.mk for:	wip/ros-aicp-mapping
+# Created:			Guilhem Saurel on Fri, 24 Jan 2020
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+ROS_AICP_MAPPING_DEPEND_MK:=	${ROS_AICP_MAPPING_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		ros-aicp-mapping
+endif
+
+ifeq (+,$(ROS_AICP_MAPPING_DEPEND_MK)) # --------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+include ../../mk/robotpkg.prefs.mk
+ifeq (18.04,${OS_VERSION})
+  PREFER.ros-aicp-mapping?=		robotpkg
+else
+  PREFER.ros-aicp-mapping?=		${PREFER.ros-base}
+  SYSTEM_PREFIX.ros-aicp-mapping?=	${SYSTEM_PREFIX.ros-base}
+endif
+
+DEPEND_USE+=				ros-aicp-mapping
+ROS_DEPEND_USE+=			ros-aicp-mapping
+
+DEPEND_ABI.ros-aicp-mapping?=		ros-aicp-mapping>=0.0.1
+DEPEND_DIR.ros-aicp-mapping?=		../../wip/ros-aicp-mapping
+
+SYSTEM_SEARCH.ros-aicp-mapping=\
+	include/aicp_core/common.hpp					\
+	'lib/pkgconfig/aicp_core.pc:/Version/s/[^0-9.]//gp'
+
+CMAKE_PREFIX_PATH.ros-aicp-mapping=   ${PREFIX.ros-aicp-mapping}
+
+endif # ROS_AICP_MAPPING_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}

ros-aicp-mapping/distinfo

+SHA1 (ros/aicp_mapping/0.0.1.tar.gz) = a03b4f7338ad7af573fbe9e5418e3c1d2bc90a16
+RMD160 (ros/aicp_mapping/0.0.1.tar.gz) = 2100555f38ca65b1b0af43486c9e6dc8b92fd429
+Size (ros/aicp_mapping/0.0.1.tar.gz) = 7201053 bytes
+SHA1 (patch-aa) = 6b56a225faf9f008a290b21fa2657cda020dc18a

ros-aicp-mapping/patches/patch-aa

+create() provides an std::shared_ptr instead of a ptr.
+
+--- aicp_core/src/utils/icpMonitor.cpp.orig	2019-05-05 17:52:19.000000000 +0200
++++ aicp_core/src/utils/icpMonitor.cpp	2020-01-24 19:24:13.338056526 +0100
+@@ -26,7 +26,7 @@
+   params["knn"] =  toParam(1); // for Hausdorff distance, we only need the first closest point
+   params["epsilon"] =  toParam(0);
+ 
+-  PM::Matcher* matcherHausdorff = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
++  auto matcherHausdorff = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
+ 
+   float quantile = 0.60;
+   
+@@ -102,7 +102,7 @@
+   params["knn"] =  toParam(1); // for Hausdorff distance, we only need the first closest point
+   params["epsilon"] =  toParam(0);
+ 
+-  PM::Matcher* matcher = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
++  auto matcher = PM::get().MatcherRegistrar.create("KDTreeMatcher", params);
+ 
+   // from reading to reference
+   matcher->init(A);
+--- aicp_core/src/registration/pointmatcher_registration.cpp.orig	2019-05-05 17:52:19.000000000 +0200
++++ aicp_core/src/registration/pointmatcher_registration.cpp	2020-01-24 19:24:44.765800055 +0100
+@@ -72,7 +72,7 @@
+   {
+     PM::TransformationParameters init_transform = parseTransformationDeg(params_.pointmatcher.initialTransform, 3);
+ 
+-    PM::Transformation* rigid_transform = PM::get().REG(Transformation).create("RigidTransformation");
++    auto rigid_transform = PM::get().REG(Transformation).create("RigidTransformation");
+ 
+     if (!rigid_transform->checkParameters(init_transform)) {
+       cerr << endl