tuw_geometry

Classes to handle and visualize 2D and 3D objects such as points, poses, lines as well as a plot windows for debugging.

geo_handler

If using the geo_handler.hpp one must link the GeographicLib. Under Ubuntu 22.04 this can be done by installing the libgeographic-dev using sudo apt install libgeographic-dev, by adding the following statement to your CMakeLists.txt and <depend>geographiclib</depend> to your package.xml.

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
find_package(GeographicLib QUIET)
if(GeographicLib_FOUND)
  message(STATUS "GeographicLib found: building geo_map!")
else()
  message(ERROR "GeographicLib NOT found: not building geo_map!")
endif()

doxygen

cd tuw_geometry
doxygen Doxyfile

Build

GeographicLib

The geo_map.cpp depends on the GeographicLib. If you cannot install it or if you like to go on without the GeographicLib you have to remove the geographiclib entries from the package.xml as well as the lines pointing to geo_map.cpp and the GeographicLib from the CMakeFile.txt.

Test

Unittests can be run by

colcon build --packages-select tuw_geometry --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug --cmake-args -DBUILD_TESTING=true
run tuw_geometry test_geometry

Changelog for package tuw_geometry

0.1.2 (2024-12-05)

• unittest fixed
• reformatted
• init map updated
• origin struct removed
• update on geo_handler
• point update
• direction vector on lines added
• WorldFile class enhanced
• GeographicLib from export_dependencies removed
• Update ament_export_dependencies
• spaces removed
• formating fixed
• uncrustify
• minor
• cv support enhanced
• minor
• geo handler added
• map_handler added
• map to utm added
• WorldFile added
• uncrustified
• tests updated
• Makefile added
• doku added
• codeformatierung fixed
• geomap added
• figure inti with matrix
• export dependencies for sensor_msgs std_msgs OpenCV added
• export dependencies for sensor_msgs std_msgs OpenCV added
• coding fixed
• reformated
• warning in test removed
• uncrustify
• plan3d added
• plan3d added
• plan3d added
• <test_depend>ament_cmake_cppcheck</test_depend> added
• Contributors: Alexander Lampalzer, Markus Bader, markus

0.1.1 (2023-06-25)

• docs updated
• Doxyfile added
• Contributors: Markus Bader

0.0.9 (2023-05-15)

• connand2d files added
• Contributors: Markus Bader

0.0.8 (2023-03-30)

• command to command2d
• sample2d removed
• sample template added
• Contributors: Markus Bader

0.0.7 (2023-03-26)

• lint_cmake error fixed
• uncrustify reformated
• minor
• 2D sample class added
• Merge branch 'humble' into ros2
• quaternion support enhanced
• Contributors: Markus Bader

0.0.5 (2023-03-24)

• boost lexical_cast removed
• Contributors: Markus Bader

0.0.4 (2023-03-20)

• Error on returnvalue in LayeredMaps::getVal( fixed
• header files renamed to hpp
• figure sample added
• uncrustifyed
• code reformated
• ros2 ready
• CMake version updated
• opencv4 fix in grid_map
• warning fixed
• Contributors: Markus Bader

0.0.3 (2018-09-24)

• install targets fixed
• Contributors: Markus Bader

0.0.2 (2018-09-17)

• measurment object removed
• Contributors: Markus Bader

0.0.1 (2018-09-12)

• eigen include fixed
• eigen find added
• updated on grid_map
• convertion function added
• map update
• grid_map.h added
• grid_map.h added
• Merge branch 'kinetic' into kinetic-devel
• added shape_variables
• Merge branch 'kinetic-devel' into kinetic
• added constants for sensor/det type
• some changes to object
• fixed reference
• added MeasurementObject
• Revert "added ros node for linesegment detector" This reverts commits d015903fa6ef6ee49dd9bffac8ceaff809ee70cb and 0a8f034898284155fa5470b76fdb43ffb38a0105. linesegment detector node can now be found in tuw_calibration
• added dynamic reconfigure for linesegment detector node
• added ros node for linesegment detector
• Merge branch 'kinetic-devel' of github.com:tuw-robotics/tuw_geometry into kinetic-devel
• fixed function return value bug
• merged
• author added
• Merge branch 'kinetic-devel' of https://github.com/tuw-robotics/tuw_geometry into kinetic-devel
• added helper function for getting distance along line
• tuw_geometry_wrapper from catkin_package macro removed
• now layered maps have float channels
• added layered maps and figure functionality and files
• added layered maps and figure functionality
• map to world functionality from Figure class moved in base class WorldScopedMaps
• wrapper update
• unittests added
• wrapper enhanced
• wrapper starts to work
• python wrapper added but not yet working
• Moved measurement_marker.h/measurement_marker.cpp to tuw_markers_slam
• Marker measurement added
• Merge branch 'master' of github.com:tuw-robotics/tuw_geometry
• Initial commit
• changes up-to-date
• gitignore added
• first commit
• Contributors: Florian Beck, Horatiu George Todoran, Markus Bader, Markus Bader @ Marvin, Markus Bader @ munin, mmacsek, todorangrg