This repository contains the code for a simple voxel-hashing semantic map. It includes the data structure for the map, several fusion methods for the voxels, evaluation procedures and a script to evaluate maps. The mapping system is intended to be used by the integrated ROS node or by including it as a library as in the case of ipp_tools.

Note: this image shows a semantic map overlayed on a Voxblox map.

Clone the repository with:

git clone https://github.com/dvdmc/sensors_tools

Download the Cereal library for serialization and place into the semantic_mapping/include/ folder. Then, copy the file semantic_mapping/mods/eigen.hpp into semantic_mapping/include/cereal/types/ for serializing Eigen types. Place the package inside a ROS catkin_ws/src and compile using:

catkin build semantic_mapping semantic_mapping_ros

• semantic_mapping/: where the data structure and the integrators are defined. Most of the code except the MapEvaluator is header only.
• semantic_mapping_ros/: ROS package including all the interfaces and fusion method. It is the intended way of using the standalone map within ROS.

For the configuration, the map and fusion pipelines are loaded with different options. You can check the configuration files in the ROS package for more details. The ROS node shows how the parameters are used to configure different modules and controlling the mapping algorithm.

The intended usage is by running the sensor node with rosrun or using a launch file:

roslaunch semantic_mapping_ros semanic_map.launch