Add openvdb to humble #475
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Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
hidmic
reviewed
Feb 26, 2025
docker/images/humble/Dockerfile
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| mkdir build && cd build && \ | ||
| cmake .. && \ | ||
| make -j$(nproc) && sudo make install && \ | ||
| rm -rf /tmp/openvdb |
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@pvela2017 meta: how long does this take to build? Can we do something similar to what we do for timemory?
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It takes around 6 min to build openvdb.
Updated as timemory on d9f6673
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Can we remove lines 105 thru 112 then?
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whops! Yes! Sorry, I use 2 different dockerfiles because of the proxy and vpn configuration.
Fixed on cc71f4a
DEVELOPING.md
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| @@ -66,6 +66,8 @@ Within a development environment: | |||
| rosdep install --from-path src | |||
| ``` | |||
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| 🔸`beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building, installation instructions can be found [here](beluga_vdb/README.md). If you don't need to use `beluga_vdb` you can skip this package using `colcon build --symlink-install --packages-ignore beluga_vdb` | |||
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@pvela2017 meta nit: instead of 🔸, consider using GitHub Markdown alerts.
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Also, consider:
Suggested change
| 🔸`beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building, installation instructions can be found [here](beluga_vdb/README.md). If you don't need to use `beluga_vdb` you can skip this package using `colcon build --symlink-install --packages-ignore beluga_vdb` | |
| 🔸`beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building. Installation instructions can be found [here](beluga_vdb/README.md). If you don't need `beluga_vdb`, you can skip it using `colcon build --symlink-install --packages-ignore beluga_vdb` |
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Changed on 5cdc016
beluga_vdb/README.md
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| ## 🌐 Overview | ||
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| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses the powerful volumetric data structure of OpenVDB to efficiently process maps and 3D pointcloud data, providing the localization of the autonomous system. |
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@pvela2017 meta nit: consider using less bells and whistles
Suggested change
| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses the powerful volumetric data structure of OpenVDB to efficiently process maps and 3D pointcloud data, providing the localization of the autonomous system. | |
| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses OpenVDB to efficiently process 3D maps and pointcloud data. |
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Perhaps we can point to the VDB mapping repository too.
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Added VDB mapping on 5cdc016
beluga_vdb/README.md
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| ### OpenVDB | ||
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| For Ubuntu 24.04 and newer versions OpenVDB can be installed using `apt`: |
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@pvela2017 nit:
Suggested change
| For Ubuntu 24.04 and newer versions OpenVDB can be installed using `apt`: | |
| For Ubuntu 24.04 and newer distributions, OpenVDB can be installed using `apt`: |
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Changed on 5cdc016
beluga_vdb/README.md
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| sudo apt install libopenvdb-dev | ||
| ``` | ||
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| Older version must be isnstalled from sources as follow: |
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@pvela2017 nit:
Suggested change
| Older version must be isnstalled from sources as follow: | |
| For older distributions, it must be installed from sources as follows: |
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Changed on 5cdc016
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
hidmic
approved these changes
Feb 27, 2025
DEVELOPING.md
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| @@ -66,6 +66,10 @@ Within a development environment: | |||
| rosdep install --from-path src | |||
| ``` | |||
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| > [!IMPORTANT] | |||
| > `beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building. Installation instructions can be found [here](beluga_vdb/README.md). If you don't need `beluga_vdb`, you can skip it using `colcon build --symlink-install --packages-ignore beluga_vdb` | |||
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@pvela2017 nit:
Suggested change
| > `beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building. Installation instructions can be found [here](beluga_vdb/README.md). If you don't need `beluga_vdb`, you can skip it using `colcon build --symlink-install --packages-ignore beluga_vdb` | |
| > `beluga_vdb` requires OpenVDB to be installed in order to be used. For Ubuntu distributions previous to `Noble` OpenVDB needs to be installed from sources before building. Installation instructions can be found [here](beluga_vdb/README.md). If you don't need `beluga_vdb`, you can skip it using `colcon build --symlink-install --packages-ignore beluga_vdb`. |
beluga_vdb/README.md
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| ## 🌐 Overview | ||
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| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses OpenVDB to efficiently process 3D maps and pointcloud data. Maps in `vdb` format can be generated using any third party library such as [VDB Mapping](https://github.com/fzi-forschungszentrum-informatik/vdb_mapping). |
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@pvela2017 nit:
Suggested change
| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses OpenVDB to efficiently process 3D maps and pointcloud data. Maps in `vdb` format can be generated using any third party library such as [VDB Mapping](https://github.com/fzi-forschungszentrum-informatik/vdb_mapping). | |
| BelugaVDB is a library extension for `beluga` that integrates [OpenVDB](https://www.openvdb.org/), enabling advanced 3D localization capabilities. Currently, this extension uses OpenVDB to efficiently process 3D maps and pointcloud data. Maps in `vdb` format can be generated using any suitable third party package such as [VDB Mapping](https://github.com/fzi-forschungszentrum-informatik/vdb_mapping). |
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Also, any? What do we need of the map? Just active vs inactive voxels, right? We should leave a note about that.
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Good catch! I forgot we need to do some post-processing to the map generated by VDB Mapping. We need a level-set. I added some code on how to achieve this and how to visualize the map.
docker/images/humble/Dockerfile
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| mkdir build && cd build && \ | ||
| cmake .. && \ | ||
| make -j$(nproc) && sudo make install && \ | ||
| rm -rf /tmp/openvdb |
There was a problem hiding this comment.
Can we remove lines 105 thru 112 then?
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
Signed-off-by: Pablo Vela <[email protected]>
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Fix to issue #474 .
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