Merge branch 'master' into map-loading

.github/workflows/build.yml

@@ -0,0 +1,33 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ROS_DISTRO: [melodic, melodic_llvm, noetic, noetic_llvm]
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Docker login
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_TOKEN }}
+
+      - name: Docker build
+        uses: docker/build-push-action@v2
+        with:
+          file: ${{github.workspace}}/docker/${{ matrix.ROS_DISTRO }}/Dockerfile
+          context: .
+          push: false

.gitignore

@@ -1,2 +1,3 @@
+.vscode/*
 imgui.ini
 rviz/*

README.md

@@ -5,7 +5,7 @@
 
 [video](https://drive.google.com/open?id=0B9f5zFkpn4soSG96Tkt4SFFTbms)
 
-[![Codacy Badge](https://api.codacy.com/project/badge/Grade/1175635f00394e789b457b44690ce72c)](https://app.codacy.com/app/koide3/hdl_graph_slam?utm_source=github.com&utm_medium=referral&utm_content=koide3/hdl_graph_slam&utm_campaign=Badge_Grade_Dashboard) [![Build Status](https://travis-ci.org/koide3/hdl_graph_slam.svg?branch=master)](https://travis-ci.org/koide3/hdl_graph_slam) on melodic & noetic
+[![Build](https://github.com/koide3/hdl_graph_slam/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/hdl_graph_slam/actions/workflows/build.yml) on melodic & noetic
 
 ## Nodelets
 ***hdl_graph_slam*** consists of four nodelets.

apps/prefiltering_nodelet.cpp

@@ -53,12 +53,12 @@ class PrefilteringNodelet : public nodelet::Nodelet {
 
     if(downsample_method == "VOXELGRID") {
       std::cout << "downsample: VOXELGRID " << downsample_resolution << std::endl;
-      boost::shared_ptr<pcl::VoxelGrid<PointT>> voxelgrid(new pcl::VoxelGrid<PointT>());
+      auto voxelgrid = new pcl::VoxelGrid<PointT>();
       voxelgrid->setLeafSize(downsample_resolution, downsample_resolution, downsample_resolution);
-      downsample_filter = voxelgrid;
+      downsample_filter.reset(voxelgrid);
     } else if(downsample_method == "APPROX_VOXELGRID") {
       std::cout << "downsample: APPROX_VOXELGRID " << downsample_resolution << std::endl;
-      boost::shared_ptr<pcl::ApproximateVoxelGrid<PointT>> approx_voxelgrid(new pcl::ApproximateVoxelGrid<PointT>());
+      pcl::ApproximateVoxelGrid<PointT>::Ptr approx_voxelgrid(new pcl::ApproximateVoxelGrid<PointT>());
       approx_voxelgrid->setLeafSize(downsample_resolution, downsample_resolution, downsample_resolution);
       downsample_filter = approx_voxelgrid;
     } else {

apps/scan_matching_odometry_nodelet.cpp

@@ -85,12 +85,12 @@ class ScanMatchingOdometryNodelet : public nodelet::Nodelet {
     double downsample_resolution = pnh.param<double>("downsample_resolution", 0.1);
     if(downsample_method == "VOXELGRID") {
       std::cout << "downsample: VOXELGRID " << downsample_resolution << std::endl;
-      boost::shared_ptr<pcl::VoxelGrid<PointT>> voxelgrid(new pcl::VoxelGrid<PointT>());
+      auto voxelgrid = new pcl::VoxelGrid<PointT>();
       voxelgrid->setLeafSize(downsample_resolution, downsample_resolution, downsample_resolution);
-      downsample_filter = voxelgrid;
+      downsample_filter.reset(voxelgrid);
     } else if(downsample_method == "APPROX_VOXELGRID") {
       std::cout << "downsample: APPROX_VOXELGRID " << downsample_resolution << std::endl;
-      boost::shared_ptr<pcl::ApproximateVoxelGrid<PointT>> approx_voxelgrid(new pcl::ApproximateVoxelGrid<PointT>());
+      pcl::ApproximateVoxelGrid<PointT>::Ptr approx_voxelgrid(new pcl::ApproximateVoxelGrid<PointT>());
       approx_voxelgrid->setLeafSize(downsample_resolution, downsample_resolution, downsample_resolution);
       downsample_filter = approx_voxelgrid;
     } else {
@@ -99,7 +99,7 @@ class ScanMatchingOdometryNodelet : public nodelet::Nodelet {
         std::cerr << "       : use passthrough filter" << std::endl;
       }
       std::cout << "downsample: NONE" << std::endl;
-      boost::shared_ptr<pcl::PassThrough<PointT>> passthrough(new pcl::PassThrough<PointT>());
+      pcl::PassThrough<PointT>::Ptr passthrough(new pcl::PassThrough<PointT>());
       downsample_filter = passthrough;
     }
 

docker/melodic/Dockerfile

@@ -11,7 +11,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 RUN mkdir -p /root/catkin_ws/src
 WORKDIR /root/catkin_ws/src
 RUN /bin/bash -c '. /opt/ros/melodic/setup.bash; catkin_init_workspace'
-RUN git clone -b melodic https://github.com/koide3/ndt_omp.git
+RUN git clone https://github.com/koide3/ndt_omp.git
 RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
 
 COPY . /root/catkin_ws/src/hdl_graph_slam/

include/hdl_graph_slam/registrations.hpp

@@ -14,7 +14,7 @@ namespace hdl_graph_slam {
  * @param pnh
  * @return selected scan matching
  */
-boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_registration_method(ros::NodeHandle& pnh);
+pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>::Ptr select_registration_method(ros::NodeHandle& pnh);
 
 }  // namespace hdl_graph_slam
 

src/hdl_graph_slam/registrations.cpp

@@ -19,14 +19,14 @@
 
 namespace hdl_graph_slam {
 
-boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_registration_method(ros::NodeHandle& pnh) {
+pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>::Ptr select_registration_method(ros::NodeHandle& pnh) {
   using PointT = pcl::PointXYZI;
 
   // select a registration method (ICP, GICP, NDT)
   std::string registration_method = pnh.param<std::string>("registration_method", "NDT_OMP");
   if(registration_method == "FAST_GICP") {
     std::cout << "registration: FAST_GICP" << std::endl;
-    boost::shared_ptr<fast_gicp::FastGICP<PointT, PointT>> gicp(new fast_gicp::FastGICP<PointT, PointT>());
+    fast_gicp::FastGICP<PointT, PointT>::Ptr gicp(new fast_gicp::FastGICP<PointT, PointT>());
     gicp->setNumThreads(pnh.param<int>("reg_num_threads", 0));
     gicp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
     gicp->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
@@ -37,7 +37,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
 #ifdef USE_VGICP_CUDA
   else if(registration_method == "FAST_VGICP_CUDA") {
     std::cout << "registration: FAST_VGICP_CUDA" << std::endl;
-    boost::shared_ptr<fast_gicp::FastVGICPCuda<PointT, PointT>> vgicp(new fast_gicp::FastVGICPCuda<PointT, PointT>());
+    fast_gicp::FastVGICPCuda<PointT, PointT>::Ptr vgicp(new fast_gicp::FastVGICPCuda<PointT, PointT>());
     vgicp->setResolution(pnh.param<double>("reg_resolution", 1.0));
     vgicp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
     vgicp->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
@@ -47,7 +47,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
 #endif
   else if(registration_method == "FAST_VGICP") {
     std::cout << "registration: FAST_VGICP" << std::endl;
-    boost::shared_ptr<fast_gicp::FastVGICP<PointT, PointT>> vgicp(new fast_gicp::FastVGICP<PointT, PointT>());
+    fast_gicp::FastVGICP<PointT, PointT>::Ptr vgicp(new fast_gicp::FastVGICP<PointT, PointT>());
     vgicp->setNumThreads(pnh.param<int>("reg_num_threads", 0));
     vgicp->setResolution(pnh.param<double>("reg_resolution", 1.0));
     vgicp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
@@ -56,7 +56,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
     return vgicp;
   } else if(registration_method == "ICP") {
     std::cout << "registration: ICP" << std::endl;
-    boost::shared_ptr<pcl::IterativeClosestPoint<PointT, PointT>> icp(new pcl::IterativeClosestPoint<PointT, PointT>());
+    pcl::IterativeClosestPoint<PointT, PointT>::Ptr icp(new pcl::IterativeClosestPoint<PointT, PointT>());
     icp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
     icp->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
     icp->setMaxCorrespondenceDistance(pnh.param<double>("reg_max_correspondence_distance", 2.5));
@@ -65,7 +65,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
   } else if(registration_method.find("GICP") != std::string::npos) {
     if(registration_method.find("OMP") == std::string::npos) {
       std::cout << "registration: GICP" << std::endl;
-      boost::shared_ptr<pcl::GeneralizedIterativeClosestPoint<PointT, PointT>> gicp(new pcl::GeneralizedIterativeClosestPoint<PointT, PointT>());
+      pcl::GeneralizedIterativeClosestPoint<PointT, PointT>::Ptr gicp(new pcl::GeneralizedIterativeClosestPoint<PointT, PointT>());
       gicp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
       gicp->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
       gicp->setUseReciprocalCorrespondences(pnh.param<bool>("reg_use_reciprocal_correspondences", false));
@@ -75,7 +75,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
       return gicp;
     } else {
       std::cout << "registration: GICP_OMP" << std::endl;
-      boost::shared_ptr<pclomp::GeneralizedIterativeClosestPoint<PointT, PointT>> gicp(new pclomp::GeneralizedIterativeClosestPoint<PointT, PointT>());
+      pclomp::GeneralizedIterativeClosestPoint<PointT, PointT>::Ptr gicp(new pclomp::GeneralizedIterativeClosestPoint<PointT, PointT>());
       gicp->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
       gicp->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
       gicp->setUseReciprocalCorrespondences(pnh.param<bool>("reg_use_reciprocal_correspondences", false));
@@ -93,7 +93,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
     double ndt_resolution = pnh.param<double>("reg_resolution", 0.5);
     if(registration_method.find("OMP") == std::string::npos) {
       std::cout << "registration: NDT " << ndt_resolution << std::endl;
-      boost::shared_ptr<pcl::NormalDistributionsTransform<PointT, PointT>> ndt(new pcl::NormalDistributionsTransform<PointT, PointT>());
+      pcl::NormalDistributionsTransform<PointT, PointT>::Ptr ndt(new pcl::NormalDistributionsTransform<PointT, PointT>());
       ndt->setTransformationEpsilon(pnh.param<double>("reg_transformation_epsilon", 0.01));
       ndt->setMaximumIterations(pnh.param<int>("reg_maximum_iterations", 64));
       ndt->setResolution(ndt_resolution);
@@ -102,7 +102,7 @@ boost::shared_ptr<pcl::Registration<pcl::PointXYZI, pcl::PointXYZI>> select_regi
       int num_threads = pnh.param<int>("reg_num_threads", 0);
       std::string nn_search_method = pnh.param<std::string>("reg_nn_search_method", "DIRECT7");
       std::cout << "registration: NDT_OMP " << nn_search_method << " " << ndt_resolution << " (" << num_threads << " threads)" << std::endl;
-      boost::shared_ptr<pclomp::NormalDistributionsTransform<PointT, PointT>> ndt(new pclomp::NormalDistributionsTransform<PointT, PointT>());
+      pclomp::NormalDistributionsTransform<PointT, PointT>::Ptr ndt(new pclomp::NormalDistributionsTransform<PointT, PointT>());
       if(num_threads > 0) {
         ndt->setNumThreads(num_threads);
       }