Merge pull request #10 from willcbaker/master

Fix install and move parameters to private namespace

Author: seungjae24

CMakeLists.txt

@@ -72,3 +72,18 @@ add_dependencies(demo patchworkpp_generate_messages_cpp)
 add_executable(video src/video.cpp)
 target_link_libraries(video ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
 add_dependencies(video patchworkpp_generate_messages_cpp)
+
+
+# ==== Install ====
+install(TARGETS demo
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+install(DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

config/params.yaml

@@ -1,36 +1,36 @@
 save_flag: true
 
-patchworkpp:
-    
-    sensor_height: 1.723
+# patchworkpp:
 
-    mode: "czm" 
-    verbose: false   # To check effect of uprightness/elevation/flatness
-    visualize: true  # Ground Likelihood Estimation is visualized
-    
-    # Ground Plane Fitting parameters
-    num_iter: 3             # Number of iterations for ground plane estimation using PCA.
-    num_lpr: 20             # Maximum number of points to be selected as lowest points representative.
-    num_min_pts: 10         # Minimum number of points to be estimated as ground plane in each patch.
-    th_seeds: 0.3           # threshold for lowest point representatives using in initial seeds selection of ground points.
-    th_dist: 0.125          # threshold for thickenss of ground.
-    th_seeds_v: 0.25        # threshold for lowest point representatives using in initial seeds selection of vertical structural points.
-    th_dist_v: 0.1          # threshold for thickenss of vertical structure.
-    max_r: 80.0             # max_range of ground estimation area
-    min_r: 2.7              # min_range of ground estimation area
-    uprightness_thr: 0.707  # threshold of uprightness using in Ground Likelihood Estimation(GLE). Please refer paper for more information about GLE.
+sensor_height: 1.723
 
-    adaptive_seed_selection_margin: -1.2 # The points below the adaptive_seed_selection_margin * sensor_height are filtered
-    czm:
-        num_zones: 4
-        num_sectors_each_zone: [16, 32, 54, 32]
-        mum_rings_each_zone: [2, 4, 4, 4]
-        elevation_thresholds:  [0.0, 0.0, 0.0, 0.0] # threshold of elevation for each ring using in GLE. Those values are updated adaptively.
-        flatness_thresholds:  [0.0, 0.0, 0.0, 0.0]  # threshold of flatness for each ring using in GLE. Those values are updated adaptively.
+mode: "czm"
+verbose: false   # To check effect of uprightness/elevation/flatness
+visualize: true  # Ground Likelihood Estimation is visualized
 
-    enable_RNR : true
-    enable_RVPF : true
-    enable_TGR : true
-    
-    RNR_ver_angle_thr : -15.0 # Noise points vertical angle threshold. Downward rays of LiDAR are more likely to generate severe noise points.
-    RNR_intensity_thr : 0.2   # Noise points intensity threshold. The reflected points have relatively small intensity than others.
+# Ground Plane Fitting parameters
+num_iter: 3             # Number of iterations for ground plane estimation using PCA.
+num_lpr: 20             # Maximum number of points to be selected as lowest points representative.
+num_min_pts: 10         # Minimum number of points to be estimated as ground plane in each patch.
+th_seeds: 0.3           # threshold for lowest point representatives using in initial seeds selection of ground points.
+th_dist: 0.125          # threshold for thickenss of ground.
+th_seeds_v: 0.25        # threshold for lowest point representatives using in initial seeds selection of vertical structural points.
+th_dist_v: 0.1          # threshold for thickenss of vertical structure.
+max_r: 80.0             # max_range of ground estimation area
+min_r: 2.7              # min_range of ground estimation area
+uprightness_thr: 0.707  # threshold of uprightness using in Ground Likelihood Estimation(GLE). Please refer paper for more information about GLE.
+
+adaptive_seed_selection_margin: -1.2 # The points below the adaptive_seed_selection_margin * sensor_height are filtered
+czm:
+    num_zones: 4
+    num_sectors_each_zone: [16, 32, 54, 32]
+    mum_rings_each_zone: [2, 4, 4, 4]
+    elevation_thresholds:  [0.0, 0.0, 0.0, 0.0] # threshold of elevation for each ring using in GLE. Those values are updated adaptively.
+    flatness_thresholds:  [0.0, 0.0, 0.0, 0.0]  # threshold of flatness for each ring using in GLE. Those values are updated adaptively.
+
+enable_RNR : true
+enable_RVPF : true
+enable_TGR : true
+
+RNR_ver_angle_thr : -15.0 # Noise points vertical angle threshold. Downward rays of LiDAR are more likely to generate severe noise points.
+RNR_intensity_thr : 0.2   # Noise points intensity threshold. The reflected points have relatively small intensity than others.