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‎.gitignore

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.vscode/
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./launch/video.launch
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./src/video.cpp

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(patchworkpp)
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add_compile_options(-std=c++17)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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roslaunch
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cv_bridge
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pcl_conversions
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pcl_ros
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geometry_msgs
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laser_geometry
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sensor_msgs
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message_generation
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)
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find_package(OpenCV REQUIRED)
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generate_messages(
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DEPENDENCIES
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std_msgs
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geometry_msgs
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sensor_msgs
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)
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find_package(PCL 1.7 REQUIRED)
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find_package(Boost 1.54 REQUIRED)
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find_package(OpenMP)
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if (OPENMP_FOUND)
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set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
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endif()
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catkin_package(
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INCLUDE_DIRS
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LIBRARIES
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CATKIN_DEPENDS roscpp rospy std_msgs
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)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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include
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)
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add_executable(offline_kitti src/offline_kitti.cpp)
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target_link_libraries(offline_kitti ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
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add_dependencies(offline_kitti patchworkpp_generate_messages_cpp)
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add_executable(demo src/demo.cpp)
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target_link_libraries(demo ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
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add_dependencies(demo patchworkpp_generate_messages_cpp)
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add_executable(video src/video.cpp)
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target_link_libraries(video ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES})
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add_dependencies(video patchworkpp_generate_messages_cpp)

‎README.md

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# patchwork-plusplus-ros
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This is ROS package of Patchwork++, which is a fast and robust ground segmentation method.
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<p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>
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> If you are not familiar with ROS, please visit the [original repository][patchwork++link].
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> If you follow the [repository][patchwork++link], you can run Patchwork++ in Python and C++ easily.
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[patchwork++link]: https://github.com/url-kaist/patchwork-plusplus
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## :open_file_folder: What's in this repositpory
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* ROS based Patchwork source code ([patchworkpp.hpp][codelink])
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* Demo launch file ([demo.launch][launchlink]) with sample rosbag file. You can execute Patchwork++ simply!
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[codelink]: https://github.com/seungjae24/patchwork-plusplus-ros/blob/master/include/patchworkpp/patchworkpp.hpp
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[launchlink]: https://github.com/seungjae24/patchwork-plusplus-ros/blob/master/launch/demo.launch
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## :package: Prerequisite packages
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You may need to install ROS, PCL, Eigen, ...
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## :gear: How to build Patchwork++
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To build Patchwork++, you can follow below codes.
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```bash
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$ mkdir -p ~/catkin_ws/src
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$ cd ~/catkin_ws
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$ catkin build # or catkin_make
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```
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## :runner: To run the demo codes
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There is a demo which executes Patchwork++ with sample rosbag file. You can download sample file with the following command.
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```bash
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$ wget https://www.dropbox.com/s/oel7o0azosm0m46/kitti_00_sample.bag
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```
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> The rosbag file is based on the [KITTI][kittilink] dataset. The bin files are merged into the rosbag file format.
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> The sample file contains LiDAR sensor data only.
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[kittilink]: http://www.cvlibs.net/datasets/kitti/raw_data.php
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Then, you can run demo as follows.
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```bash
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# Start Patchwork++
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$ roslaunch patchworkpp demo.launch
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# Start the bag file
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$ rosbag play kitti_00_sample.bag
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```
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## :postbox: Contact
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If you have any question, don't be hesitate let us know!
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* [Seungjae Lee][sjlink] :envelope: (sj98lee at kaist.ac.kr)
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* [Hyungtae Lim][htlink] :envelope: (shapelim at kaist.ac.kr)
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[sjlink]: https://github.com/seungjae24
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[htlink]: https://github.com/LimHyungTae

‎config/params.yaml

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save_flag: true
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patchworkpp:
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sensor_height: 1.723
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mode: "czm"
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verbose: false # To check effect of uprightness/elevation/flatness
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visualize: true # Ground Likelihood Estimation is visualized
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# Ground Plane Fitting parameters
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num_iter: 3
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num_lpr: 20
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num_min_pts: 10
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th_seeds: 0.3
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th_dist: 0.125
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th_seeds_v: 0.25
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th_dist_v: 0.1
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max_r: 80.0
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min_r: 2.7 # to consider vicinity of mobile platform.
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uprightness_thr: 0.707 # 45: 0.707 / 60: 0.866
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adaptive_seed_selection_margin: -1.2 # The points below the adaptive_seed_selection_margin * sensor_height are filtered
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uniform: # deprecated
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num_rings: 16
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num_sectors: 54
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czm:
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num_zones: 4
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num_sectors_each_zone: [16, 32, 54, 32]
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mum_rings_each_zone: [2, 4, 4, 4]
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elevation_thresholds: [0.0, 0.0, 0.0, 0.0] # For elevation. The size should be equal to flatness_thresholds vector
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flatness_thresholds: [0.0, 0.0, 0.0, 0.0] # For flatness. The size should be equal to elevation_thresholds vectorc
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flatness_margin: 0.0
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noise_filter_channel_num: 20
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enable_TGR : true
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enable_RNR : true
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pc_num_channel: 2048
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intensity_thr: 0.2

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