Merge pull request #9 from openhumanoids/mf-seperate-maps-from-lcm

seperate maps from lcm

maps_server/CMakeLists.txt → CMakeLists.txt

@@ -1,26 +1,35 @@
 cmake_minimum_required(VERSION 2.6.0)
 
 # pull in the pods macros. See cmake/pods.cmake for documentation
-set(POD_NAME maps-server)
+set(POD_NAME maps)
+find_package(PkgConfig)
+pkg_check_modules(LCMTYPES_BOT2CORE lcmtypes_bot2-core)
+include_directories(${LCMTYPES_BOT2CORE_INCLUDE_DIRS})
 include(cmake/pods.cmake)
 
 include(cmake/lcmtypes.cmake)
 lcmtypes_build()
 
 # main maps library (no application)
-add_subdirectory(src/libmaps)
+add_subdirectory(src/maps)
+
+# maps library specific to lcm
+add_subdirectory(src/maps-lcm)
 
 # library: minimal version of the above
-add_subdirectory(src/libmaps-mini)
+add_subdirectory(src/maps-mini)
+
 # library: used for filling in cell in height maps
 add_subdirectory(src/terrain-map)
 
-# applications using libmaps
+# LCM applications using maps and maps_lcm
 add_subdirectory(src/server)
 add_subdirectory(src/apps)
 
 # misc utils
 add_subdirectory(src/utils)
 
+add_subdirectory(src/plane-seg)
+
 # Maps GTK renderer works as of Feb 2017
 #add_subdirectory(src/renderers)

Makefile

@@ -1,35 +1,49 @@
+# Default pod makefile distributed with pods version: 12.09.21
+
 default_target: all
 
-# get a list of subdirs to build by reading tobuild.txt
-SUBDIRS:=$(shell grep -v "^\#" tobuild.txt)
+# Default to a less-verbose build.  If you want all the gory compiler output,
+# run "make VERBOSE=1"
+$(VERBOSE).SILENT:
 
 # Figure out where to build the software.
 #   Use BUILD_PREFIX if it was passed in.
-#   If not, search up to three parent directories for a 'build' directory.
+#   If not, search up to four parent directories for a 'build' directory.
 #   Otherwise, use ./build.
 ifeq "$(BUILD_PREFIX)" ""
-BUILD_PREFIX=$(shell for pfx in ./ .. ../.. ../../..; do d=`pwd`/$$pfx/build; \
+BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\
                if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build)
 endif
+# create the build directory if needed, and normalize its path name
+BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`)
 
-# build quietly by default.  For a verbose build, run "make VERBOSE=1"
-$(VERBOSE).SILENT:
+# Default to a release build.  If you want to enable debugging flags, run
+# "make BUILD_TYPE=Debug"
+ifeq "$(BUILD_TYPE)" ""
+BUILD_TYPE="Release"
+endif
+
+all: pod-build/Makefile
+	$(MAKE) -C pod-build all install
 
-all: 
-	@[ -d $(BUILD_PREFIX) ] || mkdir -p $(BUILD_PREFIX) || exit 1
-	@for subdir in $(SUBDIRS); do \
-		echo "\n-------------------------------------------"; \
-		echo "-- $$subdir"; \
-		echo "-------------------------------------------"; \
-		$(MAKE) -C $$subdir all || exit 2; \
-	done
-	@# Place additional commands here if you have any
+pod-build/Makefile:
+	$(MAKE) configure
+
+.PHONY: configure
+configure:
+	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
+
+	# create the temporary build directory if needed
+	@mkdir -p pod-build
+
+	# run CMake to generate and configure the build scripts
+	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
+		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
 
 clean:
-	@for subdir in $(SUBDIRS); do \
-		echo "\n-------------------------------------------"; \
-		echo "-- $$subdir"; \
-		echo "-------------------------------------------"; \
-		$(MAKE) -C $$subdir clean; \
-	done
-	@# Place additional commands here if you have any
+	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
+	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
+
+# other (custom) targets are passed through to the cmake-generated Makefile 
+%::
+	$(MAKE) -C pod-build $@

README.rst

@@ -0,0 +1,66 @@
+***********
+Maps Server
+***********
+
+The maps server is a request-respond application for collating local LIDAR (or stereo) data into a point cloud and the serving outputs from that point cloud such as heightmaps, depthmaps or octrees. 
+
+Care is take to make the application:
+
+* Minimal: except for the standard libararies mentioned below
+* Data-efficient: an support transmission of local maps at 5KB/sec - sufficient for a very very weak wireless link
+* Stateless: all content output by the server is self enclosed
+
+The software was developed for the 2015 MIT DARPA Robotics Challenge team.
+
+**Details about message flow**
+
+TODO: put flow chart here
+
+1. DATA_REQUEST: tiny message requesting a high level type of map (a few bits in size). Made by UI e.g. Director. (A)
+2. MAP_REQUEST: specific details of map of interest (a few bytes). Made by the data-request-server. (B)
+3. MAP_DEPTH: actual height/depth map data stream. Published by maps-server (C)
+
+MAP_OCTREE: as for MAP_DEPTH above except an Octree, messages 10x larger
+
+**(A) enum types supported by data request**
+
+- short range, detailed height map (for footstep planning)
+- long range, coarse height map (for navigation planning)
+- short range depth map (for manipulation)
+- long range depth map (for situational awareness)
+- octomap (for manipulation)
+- stereo depth map
+
+**(B) information in the maap request**
+
+- which data type to use (depth image, point cloud, octree
+- time window to accumulate
+- virtual camera to use to project data
+- quantization level, resolution
+- height estimation mode e.g. median, mean, nearest
+
+**(C) details about the actual maps produced**
+
+The maps is entirely self contained e.g. it doesn't use bot frames or tf, or joint angles. It contains:
+
+- id to identify it
+- resolution, compression (e.g. Zlib usually)
+- projective transformation matrix for data
+- data blob
+
+Example data rate for short range height map: 5KB at 1Hz
+
+
+**Dependencies**
+
+* Required: PCL, Octomap
+* Optional: LCM, libbot
+
+**Pods**
+
+This software is constructed according to the Pods software policies and
+templates.  The policies and templates can be found at:
+
+* http://sourceforge.net/projects/pods
+
+