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PamphlettPamphlett
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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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project(segregator)
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set(CMAKE_CXX_STANDARD 17)
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# set(CMAKE_BUILD_TYPE "Debug")
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set(CMAKE_INSTALL_RPATH "/usr/local/lib")
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Release")
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endif ()
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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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geometry_msgs
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message_generation
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sensor_msgs
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nav_msgs
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pcl_ros
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cv_bridge
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eigen_conversions
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)
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find_package(OpenCV REQUIRED)
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find_package(OpenCV REQUIRED QUIET)
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find_package(OpenMP)
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find_package(PCL 1.8 REQUIRED)
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find_package(Boost 1.54 REQUIRED)
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find_package(Eigen3 3.2 QUIET REQUIRED NO_MODULE)
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add_message_files(
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FILES
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cloud_info.msg
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)
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generate_messages(
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DEPENDENCIES
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geometry_msgs
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std_msgs
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nav_msgs
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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${PROJECT_NAME}
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nano_gicp
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nanoflann
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CATKIN_DEPENDS
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roscpp
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rospy
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std_msgs
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)
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include_directories(include
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${catkin_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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add_definitions(${PCL_DEFINITIONS})
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link_directories(${PCL_LIBRARY_DIRS})
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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} ${OpenMP_EXE_LINKER_FLAGS}")
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endif ()
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configure_file(pmc/pmc.CMakeLists.txt.in pmc-download/CMakeLists.txt)
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execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
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WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pmc-download")
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execute_process(COMMAND "${CMAKE_COMMAND}" --build .
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WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/pmc-download")
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add_subdirectory("${CMAKE_BINARY_DIR}/pmc-src" #CMAKE_BINARY_DIR =>
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"${CMAKE_BINARY_DIR}/pmc-build")
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# # NanoFLANN
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# add_library(nanoflann SHARED
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# src/nano_gicp/nanoflann.cc
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# )
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# target_link_libraries(nanoflann ${PCL_LIBRARIES})
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# target_include_directories(nanoflann PUBLIC include ${PCL_INCLUDE_DIRS})
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# # NanoGICP
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# add_library(nano_gicp SHARED
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# src/nano_gicp/lsq_registration.cc
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# src/nano_gicp/nano_gicp.cc
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# )
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# target_link_libraries(nano_gicp ${PCL_LIBRARIES} ${OpenMP_LIBS} nanoflann)
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# target_include_directories(nano_gicp PUBLIC include ${PCL_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
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####### Executable #######
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set(teaser_src
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src/registration.cc
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src/graph.cc
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src/teaser_utils/feature_matcher.cc
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src/teaser_utils/fpfh.cc
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)
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add_executable(segregator_example examples/segregator_example.cpp ${teaser_src} src/semantic_teaser.cpp)
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add_dependencies(segregator_example ${catkin_EXPORTED_TARGETS})
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target_compile_options(segregator_example PRIVATE ${OpenMP_FLAGS})
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target_link_libraries(segregator_example
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PUBLIC
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${PCL_LIBRARIES}
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${catkin_LIBRARIES}
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${OpenMP_LIBS}
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stdc++fs
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pmc
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# nano_gicp
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)
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‎config/segregator_params.yaml‎

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# case 0: //car
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# case 1: //bicycle
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# case 2: //motorcycle
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# case 3: //truck
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# case 4: //other-vehicle
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# case 5: //person
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# case 6: //bicyclist
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# case 7: //motorcyclist
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# case 8: //road
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# case 9: //parking
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# case 10: //sidewalk
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# case 11: //other-ground
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# case 12: //building
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# case 13: //fence
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# case 14: //vegetation
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# case 15: //trunk
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# case 16: //terrain
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# case 17: //pole
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# case 18: //traffic-sign
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# default: //moving objects
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building_param:
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use_building: true
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use_DCVC: true
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DCVC_min_num: 20
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class_num: 12
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min_dist: 0.2
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min_num: 50
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max_num: 500
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car_param:
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use_car: true
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use_DCVC: true
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DCVC_min_num: 30
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class_num: 0
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min_dist: 0.2
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min_num: 50
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max_num: 500
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vegetation_param:
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use_veg: false
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use_DCVC: true
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DCVC_min_num: 80
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class_num: 14
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min_dist: 0.2
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min_num: 20
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max_num: 1000
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trunk_param:
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use_trunk: true
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use_DCVC: true
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DCVC_min_num: 15
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class_num: 15
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min_dist: 0.1
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min_num: 30
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max_num: 1000
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DCVC_param:
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startR: 0.35 # Surface voxel initial polar diameter resolution
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deltaR: 0.0004 # Pole diameter increment
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deltaP: 1.2 # Pitch angle increment
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deltaA: 1.2 # Azimuth increment
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minSeg: 80 # After splitting, how many points are at least one category, and categories smaller than this number will be filtered out
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solving_w_cov: true # whether to use cov pruning
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noise_level: 0.2
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distribution_noise_level: 5
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conduct_other_methods: true # whether to conduct VGICP
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src_indx: 0 # source data index
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tgt_indx: 4413 # target data index
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inital_yaw_rate: 0
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label_deter_rate: 0

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