Add NDT-3D map class

MOLAorg · Sep 8, 2024 · 913b3bb · 913b3bb
1 parent b83cd5a
commit 913b3bb
Show file tree

Hide file tree

Showing 9 changed files with 1,511 additions and 6 deletions.
diff --git a/docs/source/Doxyfile b/docs/source/Doxyfile
@@ -704,7 +704,7 @@ LAYOUT_FILE = doxygen-layout.xml
 # LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
 # search path. See also \cite for info how to create references.
 
-CITE_BIB_FILES =
+CITE_BIB_FILES = refs.bib
 
 #---------------------------------------------------------------------------
 # Configuration options related to warning and progress messages

diff --git a/docs/source/refs.bib b/docs/source/refs.bib
@@ -102,4 +102,15 @@ @article{bhandari2024minimal
  pages={02783649241235325},
  year={2024},
  publisher={SAGE Publications Sage UK: London, England}
+}
+
+@article{magnusson2007scan,
+ title={Scan registration for autonomous mining vehicles using 3D-NDT},
+ author={Magnusson, Martin and Lilienthal, Achim and Duckett, Tom},
+ journal={Journal of Field Robotics},
+ volume={24},
+ number={10},
+ pages={803--827},
+ year={2007},
+ publisher={Wiley Online Library}
 }
diff --git a/mola_metric_maps/CMakeLists.txt b/mola_metric_maps/CMakeLists.txt
@@ -21,26 +21,42 @@ project(mola_metric_maps LANGUAGES CXX)
 find_package(mola_common REQUIRED)
 
 # find CMake dependencies:
-find_package(mrpt-maps)
+find_package(mrpt-maps REQUIRED)
+find_package(mp2p_icp_map REQUIRED)
 
 # 3rdparty deps:
 add_subdirectory(3rdparty)
 
 # -----------------------
 # define lib:
-file(GLOB_RECURSE LIB_SRCS src/*.cpp src/*.h)
-file(GLOB_RECURSE LIB_PUBLIC_HDRS include/*.h)
+set(LIB_SRCS
+ src/SparseVoxelPointCloud.cpp
+ src/register.cpp
+ src/NDT.cpp
+ src/HashedVoxelPointCloud.cpp
+ src/OccGrid.cpp
+ src/SparseTreesPointCloud.cpp
+)
+set(LIB_PUBLIC_HDRS
+ include/mola_metric_maps/OccGrid.h
+ include/mola_metric_maps/HashedVoxelPointCloud.h
+ include/mola_metric_maps/SparseTreesPointCloud.h
+ include/mola_metric_maps/SparseVoxelPointCloud.h
+ include/mola_metric_maps/index3d_t.h
+ include/mola_metric_maps/NDT.h
+ include/mola_metric_maps/FixedDenseGrid3D.h
+)
 
 mola_add_library(
  TARGET ${PROJECT_NAME}
  SOURCES ${LIB_SRCS} ${LIB_PUBLIC_HDRS}
  PUBLIC_LINK_LIBRARIES
  mrpt::maps
  tsl::robin_map
-# PRIVATE_LINK_LIBRARIES
-# mrpt::maps
+ mola::mp2p_icp_map
  CMAKE_DEPENDENCIES
  mrpt-maps
+ mp2p_icp_map
  robin_map
 )