Merge pull request #48 from LimHyungTae/support_ros2

Support ROS2 in a stand-alone repository

Author: LimHyungTae

.gitignore

@@ -1,8 +1,223 @@
 .vscode/
 
 build/
-
+*/build/
 examples/cpp/demo_visualize
 examples/cpp/demo_sequential
 
-Open3D/
+Open3D/
+
+install/
+log/
+results/
+wheelhouse/
+_skbuild/
+.gitlab-ci-local/
+
+# Created by https://www.toptal.com/developers/gitignore/api/python,c++
+# Edit at https://www.toptal.com/developers/gitignore?templates=python,c++
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+cmake-build-release*
+cmake-build-debug*
+.idea*
+
+# End of https://www.toptal.com/developers/gitignore/api/python,c++
+*.orig
+# Created by https://www.toptal.com/developers/gitignore/api/python
+# Edit at https://www.toptal.com/developers/gitignore?templates=python
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# End of https://www.toptal.com/developers/gitignore/api/python
+nn

README.md

@@ -1,17 +1,27 @@
-# Patchwork++
-
-## :bookmark_tabs: About Patchwork++ (IROS'22)
-
-* A fast, robust, and self-adaptive **ground segmentation algorithm** on 3D point cloud.
-
-<p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>
-
-* An extension of [Patchwork][patchworklink] (RA-L'21 with IROS'21).
-* Please refer our [paper][patchworkppIEEElink] for detailed explanantions and experimental results!
-
-   * Validated on [SemanticKITTI][SemanticKITTIlink] dataset. The benchmark code is available on [here][benchmarklink].
-
-* :bulb: Contents: [YouTube][YouTubeLink], [arXiv][arXivlink], [IEEE *Xplore*][patchworkppIEEElink]
+<div align="center">
+    <h1>Patchwork++</h1>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/patchworkpp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-Humble-blue" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
+    <a href="https://ieeexplore.ieee.org/document/9981561"><img src="https://img.shields.io/badge/DOI-10.1109/IROS47612.2022.9981561-004088.svg"/>
+    <br />
+    <br />
+    <a href=https://www.youtube.com/watch?v=fogCM159GRk>Video</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/README.md###Python">Install</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros">ROS2</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://www.youtube.com/watch?v=fogCM159GRk>Paper</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://github.com/url-kaist/patchwork-plusplus/issues>Contact Us</a>
+  <br />
+  <br />
+  <p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>
+
+  [Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
+</div>
 
 [YouTubeLInk]: https://www.youtube.com/watch?v=fogCM159GRk
 [arXivlink]: https://arxiv.org/abs/2207.11919
@@ -25,7 +35,7 @@
 * Python binding of Patchwork++ using pybind11 ([python_wrapper][wraplink])
 * Examples codes, which visualizes a ground segmentation result by Patchwork++ ([examples][examplelink]) :thumbsup:
 
-> If you are familiar with ROS, you can also visit [here][roslink] and try executing ROS-based Patchwork++!
+> If you are familiar with ROS1, you can also visit [here][roslink] and try executing ROS1-based Patchwork++!
 
 [roslink]: https://github.com/url-kaist/patchwork-plusplus-ros
 
@@ -73,13 +83,13 @@ $ sudo make install
 ### Python
 ```bash
 # in patchwork-plusplus directory
-$ pip install . 
+$ cd python && pip install . 
 ```
 
 ### C++
 ```bash
 # in patchwork-plusplus directory
-$ mkdir build && cd build
+$ mkdir cpp/build && cd cpp/build
 $ cmake ..
 $ make
 ```
@@ -91,22 +101,22 @@ $ make
 ### Python
 ```bash
 # Run patchwork++ and visualize ground points(green) and nonground points(red)
-$ python examples/python/demo_visualize.py
+$ python examples/demo_visualize.py
 
 # Run patchwork++ with sequential point cloud inputs 
-$ python examples/python/demo_sequential.py
+$ python examples/demo_sequential.py
 ```
 
 ### C++
 ```bash
 # Run patchwork++ and visualize ground points(green) and nonground points(red)
-$ ./build/examples/cpp/demo_visualize
+$ ./examples/demo_visualize
 
 # Run patchwork++ with sequential point cloud inputs 
-$ ./build/examples/cpp/demo_sequential
+$ ./examples/demo_sequential
 
 # Run patchwork++ with your point cloud file, example here
-$ ./build/examples/cpp/demo_visualize ./data/000000.bin # specify file path
+$ ./examples/demo_visualize ./data/000000.bin # specify file path
 ```
 
 ### Demo Result
@@ -143,17 +153,18 @@ In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][p
 
 ## :triangular_flag_on_post: Tested Environment
 
-- Ubuntu 18.04 and 20.04
+- Ubuntu ~~18.04 and~~ 20.04 and 22.04
 - CMake 3.25.1 (>=3.20, min. Required to install Open3D)
-- Open3D 0.15.2
+  - In `scripts/install_open3d.bash`, the installation of the higher version of CMake is already implemented.
+- Open3D ~~0.15.2~~ 0.18.0
 - pybind11 v2.2.3
 - Eigen 3.3.7
 
 
 ## :mailbox: Contact Information
 If you have any questions, please do not hesitate to contact us
-* [Seungjae Lee][sjlink] :envelope: `sj98lee at kaist.ac.kr`
-* [Hyungtae Lim][htlink] :envelope: `shapelim at kaist.ac.kr`
+* [Seungjae Lee][sjlink] :envelope: sj98lee `at` kaist `ac` kr
+* [Hyungtae Lim][htlink] :envelope: shapelim `at` kaist `ac` kr
 
 [sjlink]: https://github.com/seungjae24
 [htlink]: https://github.com/LimHyungTae

CMakeLists.txt cpp/CMakeLists.txtCMakeLists.txt renamed to cpp/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.11)
 project(PATCHWORK VERSION 1.0.0)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 20)
 set(PYTHON_EXECUTABLE python3)
 set(CMAKE_BUILD_TYPE Release)
 
@@ -22,19 +22,8 @@ list(APPEND Open3D_LIBRARIES dl)
 
 add_subdirectory(patchworkpp)
 
-set(INCLUDE_PYTHON_WRAPPER OFF CACHE BOOL "Build Python wrapper")
 set(INCLUDE_EXAMPLES ON CACHE BOOL "Build examples")
 
-if (INCLUDE_PYTHON_WRAPPER)
-
-  message(STATUS "Building Python wrapper")
-  find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module)
-  include(FetchContent)
-  include(pybind11)
-  add_subdirectory(python_wrapper)
-  
-endif()
-
 if (INCLUDE_EXAMPLES)
 
   message(STATUS "Building examples for c++")
@@ -44,14 +33,14 @@ if (INCLUDE_EXAMPLES)
   link_directories(${Open3D_LIBRARY_DIRS})
   message(STATUS "Found Open3D ${Open3D_VERSION}")
 
-  add_executable(demo_visualize examples/cpp/demo_visualize.cpp)
+  add_executable(demo_visualize ${CMAKE_CURRENT_SOURCE_DIR}/patchworkpp/examples/demo_visualize.cpp)
   target_link_libraries(demo_visualize PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
   target_include_directories(demo_visualize PUBLIC ${Open3D_INCLUDE_DIRS})
-  set_target_properties(demo_visualize PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+  set_target_properties(demo_visualize PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/examples")
 
-  add_executable(demo_sequential examples/cpp/demo_sequential.cpp)
+  add_executable(demo_sequential ${CMAKE_CURRENT_SOURCE_DIR}/patchworkpp/examples/demo_sequential.cpp)
   target_link_libraries(demo_sequential PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
   target_include_directories(demo_sequential PUBLIC ${Open3D_INCLUDE_DIRS})
-  set_target_properties(demo_sequential PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/build/examples/cpp")
+  set_target_properties(demo_sequential PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/examples")
 
 endif()