Initial release

Co-authored-by: Lewe Christiansen <[email protected]>

.gitignore

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+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+.idea/
+
+# VSCode
+.vscode/

.gitmodules

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+[submodule "include/vinspect/Octree"]
+	path = include/vinspect/Octree
+	url = https://github.com/attcs/Octree.git

CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package vinspect
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2024-01-15)
+------------------
+* Released by: Marc Bestmann <[email protected]>
+* First beta release

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(vinspect)
+
+set(CMAKE_CXX_STANDARD 20)
+
+find_package(ament_cmake REQUIRED) 
+find_package(ament_cmake_python REQUIRED)
+find_package(Open3D REQUIRED)
+find_package(Python REQUIRED COMPONENTS Interpreter Development)
+find_package(PythonLibs 3 REQUIRED)
+find_package(pybind11 REQUIRED)
+find_package(TBB REQUIRED)
+
+list(APPEND CMAKE_MODULE_PATH "/usr/include/tbb/")
+
+find_package(OpenMP)
+
+if(OPENMP_FOUND)
+  if(NOT TARGET OpenMP::OpenMP_CXX)
+    find_package(Threads REQUIRED)
+    add_library(OpenMP::OpenMP_CXX IMPORTED INTERFACE)
+    set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_COMPILE_OPTIONS ${OpenMP_CXX_FLAGS})
+    set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_LINK_LIBRARIES ${OpenMP_CXX_FLAGS} Threads::Threads)
+  endif()
+endif()
+
+add_compile_options(-Wall -Wextra -Wpedantic)
+include_directories(include)
+
+set(SOURCES src/inspection.cpp src/utils.cpp src/sparse_mesh.cpp)
+
+add_library(${PROJECT_NAME} SHARED ${SOURCES})
+
+target_link_libraries(${PROJECT_NAME} TBB::tbb OpenMP::OpenMP_CXX)
+
+ament_target_dependencies(${PROJECT_NAME}
+  ament_cmake
+  Open3D
+)
+
+
+pybind11_add_module(vinspect_py src/python_bindings.cpp)
+ament_target_dependencies(vinspect_py PUBLIC
+  pybind11
+  Python3
+  Open3D
+)
+target_link_libraries(vinspect_py PUBLIC vinspect)
+set_target_properties(vinspect_py PROPERTIES LINKER_LANGUAGE CXX)
+
+if(BUILD_TESTING)
+  file(GLOB_RECURSE AMENT_LINT_AUTO_FILE_EXCLUDE
+    include/Octree/*
+  )
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Add a hook for colcon to add the Python library directory to the PYTHONPATH environment variable
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/vinspect/hook/python_path.dsv
+  "prepend-non-duplicate;PYTHONPATH;lib/python3/dist-packages")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/vinspect/hook/python_path.dsv
+  DESTINATION share/vinspect/hook)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  INCLUDES DESTINATION include)
+
+install(
+  TARGETS vinspect_py
+  DESTINATION lib/python3/dist-packages/${PROJECT_NAME}
+)
+
+ament_export_dependencies(pybind11)
+ament_export_dependencies(Python3)
+ament_export_dependencies(TBB)
+ament_export_dependencies(Open3D)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_include_directories(include)
+
+ament_package()

README.md

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+# Vinspect
+
+Vinspect (short for "visualized inspection") provides a multiple functionalities that support an inspection process.
+
+The inspection process can be performed by a human (with a tracked sensor), by a robot or by a combination of both.
+It also is possible to use multiple sensortypes together. 
+These can produce sparse measurements (e.g. a ultrasonic sensor) or dense measurements (e.g. a camera).
+
+All measurements can be shown together with a reference object (e.g. based on the CAD model of the part that is inspected).
+Doing so will allow you to see the live coverage of this parts, both by the single measurements and a reconstructed 3D mesh based on camera images.
+This allows an easier inspection process for the operator and ensures that all areas where inspected.
+
+This package provides the core software of Vinspect and can be integrated into various applications. 
+We also provide a [ROS2 interface](https://github.com/DLR-MO/vinspect_ros2) which we recommend for easy integration into ROS2 based systems.
+
+## Features
+- Visualization of large amount of measurements
+- Clear coverage visualization
+- Saving/loading of the inspection data
+- Fast visualization and data access times due to usage of octrees
+- Simple to integrate C++ library
+- Python bindings
+
+### Planned Features
+- Showing original camera images by selecting viewpoint in relation to the 3D model
+- Recording of the robot's pose during recording of a data point
+
+## Requirements for Usage
+- known pose of the sensor (e.g. by using a tracking system or forward kinematics of the robot)
+- for coverage visualization, a reference mesh (e.g. from the CAD model) is helpfull
+
+## Installation and Usage
+
+We recommend using Vinspect together with the ROS2 interface that we provide (see https://github.com/DLR-MO/vinspect_ros2 for installation and usage instructions).
+
+If you prefer to use it without the ROS2 interface, you can include it into your project like any other C++ library.
+Additionally, there are Python bindings which allow you integration into Python code.
+Beware that the octree library is included as a git submodule and you need to pull this accordingly.
+You can intantiate an object of the `Inspection` class and specify what types of sensors you want to use in the constructor.
+Afterward, you can add data, visualize it and access it (see following sections).
+
+### Adding Data
+As explained above, the inspection can hold sparse data (single sensor measurement) and dense data (e.g. RGB-D images).
+Each type is handled seperately.
+You can call the `addSparseMeasurement()` function to add a new single sensor measurement to the inspection.
+Similarly, you can call the `integrateImage()` function to add a new camera image.
+
+### Visualizing
+You can visualize the current state of the inspection in two different ways.
+You can get a 3D mesh reconstruction based on the integrated RGB-D images by calling the `extractDenseReconstruction()` function.
+The sparse data is visualized by creating a mesh of points (actually octagons) that merge multiple sensor measurements that are closest together.
+This mesh can be optained by calling the `createMesh()` method of the `SparseMesh` class.
+
+### Getting Data
+The `Inspection` class offers multiple methods to directly access the data.
+These are based on the underlying octree datastructure and are, therefore, fast.
+This includes getting the
+- closest sensor measurement (`getClosestSparseMeasurement()`)
+- measurements in a specific area (`getSparseMeasurementsInRadius()`) 
+
+### Saving and Loading Data
+The `Inspection` class allows to continously save the inspection data to prevent any data loss.
+This can be activated by providing a save path in the constructor.
+The data can be loaded later by calling the `load()` function.
+It is then also possible to continue the inspection and appending new data to the loaded file.
+
+# Contributing
+Contributions are welcome (issues as well as pull requests).
+We plan on further developing and using this software in the future and are happy for any 
+contributions from the community.
+We follow the [ROS2 code style](https://docs.ros.org/en/rolling/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html).
+
+# Thanks
+Thanks to [@attcs] for implementing the [Octree library](https://github.com/attcs/Octree/) which creatly facilitated the creation of this software.
+
+Thanks to [@marrts] whose [industrial_reconstruction ROS2 package](https://github.com/ros-industrial/industrial_reconstruction) inspired the TSDF based 3D reconstruction part of Vinspect.
+
+Thanks to [@marip8] whose [REACH software](https://github.com/ros-industrial/reach)  inspired the clear seperation between core and ROS2 code.

colcon.pkg

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+{"hooks": ["share/vinspect/hook/python_path.dsv"]}