updated documentation

Author: gerni17

docs/source/conf.py

@@ -7,46 +7,61 @@
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
 
 import os, sys
-sys.path.insert(0, os.path.abspath('../../elevation_mapping_cupy'))
-sys.path.insert(0, os.path.abspath('../../sensor_processing/semantic_pointcloud'))
 
-on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
+sys.path.insert(0, os.path.abspath("../../elevation_mapping_cupy"))
+sys.path.insert(0, os.path.abspath("../../sensor_processing/semantic_pointcloud"))
+
+on_rtd = os.environ.get("READTHEDOCS", None) == "True"
 
 if not on_rtd:  # only import and set the theme if we're building docs locally
     import sphinx_rtd_theme
-    html_theme = 'sphinx_rtd_theme'
+
+    html_theme = "sphinx_rtd_theme"
     html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 
-project = 'elevation_mapping_cupy'
-copyright = '2022, Takahiro Miki, Gian Erni'
-author = 'Takahiro Miki, Gian Erni'
+project = "elevation_mapping_cupy"
+copyright = "2022, Takahiro Miki, Gian Erni"
+author = "Takahiro Miki, Gian Erni"
 
 # -- General configuration ---------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
 
-extensions = ['sphinx.ext.autodoc', 'sphinx.ext.coverage', 'sphinx.ext.napoleon','sphinx_copybutton']
+extensions = [
+    "sphinx.ext.autodoc",
+    "sphinx.ext.coverage",
+    "sphinx.ext.napoleon",
+    "sphinx_copybutton",
+]
 
-templates_path = ['_templates']
-exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+templates_path = ["_templates"]
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
 html_theme_options = {
-    'analytics_anonymize_ip': False,
-    'logo_only': False,
-    'display_version': False,
-    'prev_next_buttons_location': 'bottom',
-    'style_external_links': False,
-    'vcs_pageview_mode': '',
-    'style_nav_header_background': '#A00000',
+    "analytics_anonymize_ip": False,
+    "logo_only": False,
+    "display_version": False,
+    "prev_next_buttons_location": "bottom",
+    "style_external_links": False,
+    "vcs_pageview_mode": "",
+    "style_nav_header_background": "#A00000",
     # Toc options
-    'collapse_navigation': True,
-    'sticky_navigation': True,
-    'navigation_depth': 4,
-    'includehidden': True,
-    'titles_only': False
+    "collapse_navigation": True,
+    "sticky_navigation": True,
+    "navigation_depth": 4,
+    "includehidden": True,
+    "titles_only": False,
 }
 
 # -- Options for HTML output -------------------------------------------------
 # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
 
-html_static_path = ['_static']
+html_static_path = ["_static"]
+
+autodoc_default_options = {
+    "members": True,
+    "member-order": "bysource",
+    "special-members": "__init__",
+    "undoc-members": True,
+    "exclude-members": "__weakref__",
+}

docs/source/documentation.rst

@@ -7,6 +7,9 @@ Weclome to Elevation Mapping documentation
     :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/python-tests.yml/badge.svg
     :alt: python tests
 
+.. image:: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg
+    :target: https://github.com/leggedrobotics/elevation_mapping_semantic_cupy/actions/workflows/documentation.yml/badge.svg
+    :alt: documentation
 
 Index
 ---------------

docs/source/getting_started/cuda_installation.rst

@@ -1,30 +1,41 @@
+
+Cuda installation
+==================================================================
 .. _cuda_installation:
 
-TODO add this to the
+
 CUDA
-******************************************************************
+-------------------------------------------------------------------
 
-You can download CUDA10.2 from [here](https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin).  
+You can download CUDA10.2 from `here <https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin>`_.
 You can follow the instruction.
+
 .. code-block:: bash
 
   wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
+
   sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
+
   sudo apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/7fa2af80.pub
+
   sudo add-apt-repository "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/ /"
+
   sudo apt-get update
+
   sudo apt-get -y install cuda
 
 
 cuDNN
-******************************************************************
+-------------------------------------------------------------------
 
-You can download specific version from [here](https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/).  
+You can download specific version from `here <https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu1804/x86_64/>`_.
 For example, the tested version is with `libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb`.
 
 Then install them using the command below.
+
 .. code-block:: bash
 
   sudo dpkg -i libcudnn8_8.0.0.180-1+cuda10.2_amd64.deb
+
   sudo dpkg -i libcudnn8-dev_8.0.0.180-1+cuda10.2_amd64.deb
 

docs/source/getting_started/index.rst

@@ -1,5 +1,7 @@
 .. _introduction:
 
+
+
 Introduction
 ******************************************************************
 

docs/source/getting_started/installation.rst

@@ -1,5 +1,14 @@
 .. _installation:
 
+
+.. toctree::
+    :hidden:
+    :maxdepth: 2
+
+    Cuda installation <cuda_installation>
+
+
+
 Installation
 ******************************************************************
 
@@ -12,7 +21,9 @@ The tested versions are CUDA10.2, 11.6
 `cuDNN <https://docs.nvidia.com/deeplearning/sdk/cudnn-install/index.html#install-linux>`_
 
 
-Check how to install :ref:`here<getting_started/cuda_installation>`.
+Check how to install :ref:`here<cuda_installation>`.
+
+
 
 Python dependencies
 -------------------------------------------------------------------

docs/source/index.rst

@@ -8,7 +8,7 @@
 
 .. toctree::
     :hidden:
-    :maxdepth: 2
+    :maxdepth: 3
     :caption: Getting Started
 
     Introduction <getting_started/index>

docs/source/usage/parameters.rst

@@ -3,3 +3,38 @@
 Parameters
 ******************************************************************
 
+There are three parameter files:
+
+1. `Parameters`_
+
+2. `Plugin configurations`_
+
+3. `Sensor parameter`_
+
+
+
+Parameters
+================================================
+
+.. include:: ../../../elevation_mapping_cupy/config/parameters.yaml
+  :code: yaml
+
+Plugin configurations
+================================================
+
+More informations on the plugins can be found in :ref:`plugins`.
+
+.. include:: ../../../elevation_mapping_cupy/config/plugin_config.yaml
+  :code: yaml
+
+
+
+Sensor parameter
+================================================
+
+More informations on the sensor configurations can be found in :ref:`semantics`.
+
+.. include:: ../../../elevation_mapping_cupy/config/sensor_parameter.yaml
+  :code: yaml
+
+

docs/source/usage/plugins.rst

@@ -3,7 +3,51 @@
 Plugins
 ******************************************************************
 
+This page is structured in two parts:
 
+* `Existing plugins`_
+
+* `Create a plugin`_
+
+Existing plugins
+==================================================================
+
+1. Min filter
+-------------------------------------------------------------------
+.. automodule:: elevation_mapping_cupy.plugins.min_filter
+    :members:
+
+2. Inpainting
+-------------------------------------------------------------------
+
+.. automodule:: elevation_mapping_cupy.plugins.inpainting
+    :members:
+
+3. Smooth Filter
+-------------------------------------------------------------------
+.. automodule:: elevation_mapping_cupy.plugins.smooth_filter
+    :members:
+
+4. Robot centric elevation
+-------------------------------------------------------------------
+.. automodule:: elevation_mapping_cupy.plugins.robot_centric_elevation
+    :members:
+
+5. Semantic Filter
+-------------------------------------------------------------------
+.. automodule:: elevation_mapping_cupy.plugins.semantic_filter
+    :members:
+
+6. Semantic traversability
+-------------------------------------------------------------------
+.. automodule:: elevation_mapping_cupy.plugins.semantic_traversability
+    :members:
+
+
+
+
+Create a plugin
+==================================================================
 You can create your own plugin to process the elevation map and publish as a layer in GridMap message.
 
 Let's look at the example.

docs/source/usage/semantics.rst

@@ -1,4 +1,79 @@
 .. _semantics:
 
 Semantics
-******************************************************************
+******************************************************************
+
+The elevation map is also able to include semantic information.
+The workflow consists in two elements:
+
+* semantic extension of the elevation map
+* semantic pointcloud
+
+semantic extension of the elevation map
+==========================================
+
+The semantics of the elevation map can be configured in the sensor parameter file.
+The sensor parameter file contains all the topics the map subscribes to.
+
+The channels and fusion lists are the parameters that define the semantics of the elevation map.
+The channel is a list that contains the name of the semantic layers as well as the name of the channel
+of the data that the elevation map node subscribes to.
+The fusion list indicates the fusion algorithm type which is applied to the data to fuse the
+sensor data into the map.
+
+There are different fusion algorithms types:
+
+* average
+""""""""""""""""""""""""""
+
+    Takes the average of all the points that fall within the same cell and average them
+    and then takes a weighted average of the existing value.
+
+  use case: semantic features
+
+* bayesian_inference:
+""""""""""""""""""""""""""
+
+  Employs a gaussian bayesian inference at each iteration. Where we use the psoterior
+  of the previous iteration as the prior to the new iteration.
+
+  use case: semantic features
+
+
+* class_average
+""""""""""""""""""""""""""
+
+    Takes the average of all the points that fall within the same cell and average them
+    and then takes a weighted average of the existing value. If the previous value is zero
+  it weights the previous value with a zero weight.
+
+  use case: class probabilities
+
+* class_bayesian
+""""""""""""""""""""""""""
+
+  Employs a bayesian inference of a categorical distribution with a dirichlet prior.
+  The alpha hyperparameters of the dirichlet prior are updated at every iteration,
+  such that the posterior of iteration t-1 is the prior of t.
+
+  use case: class probabilities
+
+
+* color
+""""""""""""""""""""""""""
+
+  The color is subscribed as a uint32. The color of the cell is the result of the average of
+  all the points within that cell.
+
+  use case: rgb color information
+
+Semantic pointcloud
+=======================================
+
+Sensors do not always directly provide all semantic information.
+The semantic pointcloud is a ROS node that subscribes to stereo cameras and generates a
+multichannel pointcloud containing semantic information additionally to the goemteric position of
+the points.
+The pointcloud is also configured from the sensor_parameter file.
+
+