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Merge pull request #49 from LimHyungTae/better_instructions
Better instructions
2 parents 3e0a57a + 6b56714 commit 85edec2

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Lines changed: 362 additions & 107 deletions

‎Makefile‎

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pyinstall:
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@python3 -m pip install --upgrade pip
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@pip install numpy
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@pip install --verbose ./python/
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pyinstall_with_demo: pyinstall
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@pip install open3d==0.18.0
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cppinstall:
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@cmake -Bcpp/build cpp/
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@cmake --build cpp/build -j$(nproc --all)
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cppinstall_with_demo:
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@cmake -Bcpp/build cpp/ -DINCLUDE_CPP_EXAMPLES=ON
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@cmake --build cpp/build -j$(nproc --all)

‎README.md‎

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[examplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/examples
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## :package: Prerequisite packages
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> You may need to install Eigen, numpy, and Open3D. Open3D is used for point cloud visualization.
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> What we need are just minimal dependencies.
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```bash
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# Install prerequisite packages including Open3D
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$ git clone https://github.com/url-kaist/patchwork-plusplus
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$ cd patchwork-plusplus
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$ bash scripts/install_open3d.bash
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```
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<details>
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<summary> Manual Installation line-by-line </summary>
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```bash
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# To install Eigen and numpy
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$ sudo apt-get install libeigen3-dev
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$ pip install numpy
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# To install Open3D Python packages
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$ pip install open3d
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# To install Open3D C++ packages
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$ git clone https://github.com/isl-org/Open3D
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$ cd Open3D
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$ util/install_deps_ubuntu.sh # Only needed for Ubuntu
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$ mkdir build && cd build
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$ cmake ..
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$ make # If it fails, try several times or try 'sudo make'
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$ sudo make install
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```commandline
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sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y
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```
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</details>
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## :gear: How to build
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> Please follow below codes to build Patchwork++.
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## :gear: How to build & Run
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### Python
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```bash
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# in patchwork-plusplus directory
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$ cd python && pip install .
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```
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### C++
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```bash
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# in patchwork-plusplus directory
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$ mkdir cpp/build && cd cpp/build
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$ cmake ..
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$ make
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**Pure installation**
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```commandline
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make pyinstall
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```
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## :runner: To run the demo codes
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> There are some example codes for your convenience!
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> Please try using Patchwork++ to segment ground points in a 3D point cloud :smiley:
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Then, you can use Patchwork++ by `import pypatchworkpp`, which is super simple!
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### Python
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```bash
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# Run patchwork++ and visualize ground points(green) and nonground points(red)
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$ python examples/demo_visualize.py
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**Installation to run demo**
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Only Open3D (> 0.17.0) is additionally installed for visualization purposes.
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# Run patchwork++ with sequential point cloud inputs
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$ python examples/demo_sequential.py
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```commandline
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make pyinstall_with_demo
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```
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How to run Python demos is explained [here](https://github.com/url-kaist/patchwork-plusplus/tree/master/python/README.md#Demo).
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### C++
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```bash
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# Run patchwork++ and visualize ground points(green) and nonground points(red)
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$ ./examples/demo_visualize
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# Run patchwork++ with sequential point cloud inputs
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$ ./examples/demo_sequential
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**Pure installation**
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```commandline
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make cppinstall
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```
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**Installation with demo**
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Only Open3D (> 0.17.0) is additionally installed for visualization purposes.
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# Run patchwork++ with your point cloud file, example here
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$ ./examples/demo_visualize ./data/000000.bin # specify file path
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```commandline
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make cppinstall_with_demo
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```
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### Demo Result
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If you execute Patchwork++ with given demo codes well, you can get the following result!
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How to run the C++ demos is explained [here](https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp).
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### ROS2
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You should not need any extra dependency, just clone and build:
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```commandline
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cd colcon_ws/src && git clone
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cd ../../
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colcon build --packages-select patchworkpp
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```
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It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)
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How to launch ROS2 nodes is explained [here](https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp).
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![Open3D Visualization of "data/000000.bin"](pictures/demo_000000.png)
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## :pencil: Citation
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If you use our codes, please cite our paper ([arXiv][arXivLink], [IEEE *Xplore*][patchworkppIEEElink])
@@ -168,3 +148,12 @@ If you have any questions, please do not hesitate to contact us
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[sjlink]: https://github.com/seungjae24
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[htlink]: https://github.com/LimHyungTae
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---
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## Todo List
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- [ ] Support intensity for RNR in `master` branch
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- [ ] Support `Patchwork` mode for users who use this repository for baseline comparison purposes
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- [ ] Integrate TBB and optimize the performance
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‎cpp/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.11)
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project(PATCHWORK VERSION 1.0.0)
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project(patchworkpp VERSION 1.0.0)
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set(CMAKE_CXX_STANDARD 20)
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set(PYTHON_EXECUTABLE python3)
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set(CMAKE_BUILD_TYPE Release)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${Open3D_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Open3D_CXX_FLAGS}")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${Open3D_EXE_LINKER_FLAGS}")
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list(PREPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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endif()
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option(INCLUDE_CPP_EXAMPLES "Include C++ example codes, which require Open3D for visualization" OFF)
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list(APPEND Open3D_LIBRARIES dl)
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# Parameters in `patchworkpp` subdirectory.
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# Thus, link should be `patchworkpp::ground_seg_cores`
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set(PARENT_PROJECT_NAME ${PROJECT_NAME})
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set(TARGET_NAME ground_seg_cores)
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add_subdirectory(patchworkpp)
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set(INCLUDE_EXAMPLES ON CACHE BOOL "Build examples")
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if (INCLUDE_CPP_EXAMPLES)
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if(CMAKE_VERSION VERSION_LESS "3.15")
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# Just automatically update cmake version
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execute_process(COMMAND bash ../scripts/install_latest.cmake.bash
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
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endif()
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if (INCLUDE_EXAMPLES)
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list(APPEND Open3D_LIBRARIES dl)
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message(STATUS "Building examples for c++")
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find_package(Open3D REQUIRED HINTS ${CMAKE_INSTALL_PREFIX}/lib/CMake)
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find_package(Open3D QUIET)
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if (NOT Open3D_FOUND)
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message(STATUS "Open3D not found, installing Open3D...")
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execute_process(COMMAND bash ../scripts/install_open3d.bash
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
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find_package(Open3D REQUIRED HINTS ${CMAKE_INSTALL_PREFIX}/lib/CMake)
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else()
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message(STATUS "Found Open3D ${Open3D_VERSION}")
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endif()
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list(APPEND Open3D_LIBRARIES dl)
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link_directories(${Open3D_LIBRARY_DIRS})
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message(STATUS "Found Open3D ${Open3D_VERSION}")
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add_executable(demo_visualize ${CMAKE_CURRENT_SOURCE_DIR}/patchworkpp/examples/demo_visualize.cpp)
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target_link_libraries(demo_visualize PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
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target_link_libraries(demo_visualize PRIVATE ${PARENT_PROJECT_NAME}::${TARGET_NAME} ${Open3D_LIBRARIES} "stdc++fs")
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target_include_directories(demo_visualize PUBLIC ${Open3D_INCLUDE_DIRS})
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set_target_properties(demo_visualize PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/examples")
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add_executable(demo_sequential ${CMAKE_CURRENT_SOURCE_DIR}/patchworkpp/examples/demo_sequential.cpp)
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target_link_libraries(demo_sequential PRIVATE PATCHWORK::patchworkpp ${Open3D_LIBRARIES} "stdc++fs")
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target_link_libraries(demo_sequential PRIVATE ${PARENT_PROJECT_NAME}::${TARGET_NAME} ${Open3D_LIBRARIES} "stdc++fs")
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target_include_directories(demo_sequential PUBLIC ${Open3D_INCLUDE_DIRS})
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set_target_properties(demo_sequential PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/examples")
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endif()
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endif()

‎cpp/README.md‎

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<div align="center">
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<h1>Patchwork++</h1>
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<a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/patchworkpp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a>
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<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>
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<a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-Humble-blue" /></a>
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<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>
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<a href="https://ieeexplore.ieee.org/document/9981561"><img src="https://img.shields.io/badge/DOI-10.1109/IROS47612.2022.9981561-004088.svg"/>
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<br />
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<br />
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<a href=https://www.youtube.com/watch?v=fogCM159GRk>Video</a>
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<span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
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<a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/README.md###Python">Install</a>
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<span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
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<a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros">ROS2</a>
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<span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
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<a href=https://www.youtube.com/watch?v=fogCM159GRk>Paper</a>
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<span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
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<a href=https://github.com/url-kaist/patchwork-plusplus/issues>Contact Us</a>
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<br />
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<br />
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<p align="center"><img src=../pictures/patchwork++.gif alt="animated" /></p>
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[Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
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</div>
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[arXivlink]: https://arxiv.org/abs/2207.11919
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[patchworklink]: https://github.com/LimHyungTae/patchwork
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---
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# Patchwork++ in C++
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## Manual Installation Just in Case
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```commandline
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# in patchwork-plusplus directory
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$ cd cpp && mkdir build && cd build
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$ cmake -DCMAKE_BUILD_TYPE=Release ..
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$ make -j 16
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```
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If you want to run demo, just run
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```commandline
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make cppinstall_with_demo
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```
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in the top-level directory, or
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```commandline
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# in patchwork-plusplus directory
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$ cd cpp && mkdir build && cd build
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$ cmake -DCMAKE_BUILD_TYPE=Release -DINCLUDE_CPP_EXAMPLES=ON ..
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$ make -j 16
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```
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> [!WARNING]
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> Please check your cmake version via `cmake --version`.
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> If it is lower than 3.20, it is automatically updated by `scripts/install_latest_cmake.bash` (see [here](https://github.com/url-kaist/patchwork-plusplus/blob/master/cpp/CMakeLists.txt#L31)).
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## :runner: To run the demo codes
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> There are some example codes for your convenience!
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> Please try using Patchwork++ to segment ground points in a 3D point cloud :smiley:
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* Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
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```commandline
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./cpp/build/examples/demo_visualize
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```
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* Example 2. Run patchwork++ with sequential point cloud inputs
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```commandline
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./cpp/build/examples/demo_sequential
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```
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* Example 3. Run patchwork++ with your point cloud file, example here
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```commandline
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./examples/demo_visualize ./data/000000.bin # specify file path
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```
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### Demo Result
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If you execute Patchwork++ with given demo codes well, you can get the following result!
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It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)
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![Open3D Visualization of "data/000000.bin"](../pictures/demo_000000.png)
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‎cpp/patchworkpp/CMakeLists.txt‎

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include(GNUInstallDirs)
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message("Parent project name: " ${PARENT_PROJECT_NAME})
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find_package(Eigen3 REQUIRED QUIET)
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add_library(patchworkpp STATIC src/patchworkpp.cpp)
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set_target_properties(patchworkpp PROPERTIES POSITION_INDEPENDENT_CODE ON)
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add_library(${TARGET_NAME} STATIC src/patchworkpp.cpp)
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set_target_properties(${TARGET_NAME} PROPERTIES POSITION_INDEPENDENT_CODE ON)
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target_include_directories(patchworkpp PUBLIC
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target_include_directories(${TARGET_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
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)
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target_link_libraries(patchworkpp Eigen3::Eigen)
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add_library(PATCHWORK::patchworkpp ALIAS patchworkpp)
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target_link_libraries(${TARGET_NAME} Eigen3::Eigen)
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add_library(${PARENT_PROJECT_NAME}::${TARGET_NAME} ALIAS ${TARGET_NAME})
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install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION include
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)
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install(TARGETS patchworkpp
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EXPORT PATCHWORKConfig
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install(TARGETS ${TARGET_NAME}
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EXPORT ${PARENT_PROJECT_NAME}Config
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LIBRARY DESTINATION lib
2426
)
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export(TARGETS patchworkpp
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NAMESPACE PATCHWORK::
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FILE "${CMAKE_CURRENT_BINARY_DIR}/PATCHWORKConfig.cmake"
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export(TARGETS ${TARGET_NAME}
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NAMESPACE ${PARENT_PROJECT_NAME}::
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FILE "${CMAKE_CURRENT_BINARY_DIR}/${PARENT_PROJECT_NAME}Config.cmake"
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)
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install(EXPORT PATCHWORKConfig
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DESTINATION "${CMAKE_INSTALL_DATADIR}/PATCHWORK/cmake"
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NAMESPACE PATCHWORK::
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install(EXPORT ${PARENT_PROJECT_NAME}Config
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DESTINATION "${CMAKE_INSTALL_DATADIR}/${PARENT_PROJECT_NAME}/cmake"
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NAMESPACE ${PARENT_PROJECT_NAME}::
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)

‎pictures/patchwork2_in_ros2.gif‎

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‎python/CMakeLists.txt‎

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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Parameters used in `patchworkpp` subdirectory.
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# Thus, link should be `patchworkpp::ground_seg_cores`
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# See https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/CMakeLists.txt#L21
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set(PARENT_PROJECT_NAME patchworkpp)
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set(TARGET_NAME ground_seg_cores)
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find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
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find_package(pybind11 CONFIG REQUIRED)
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pybind11_add_module(pypatchworkpp patchworkpp/pybinding.cpp)
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target_link_libraries(pypatchworkpp PUBLIC PATCHWORK::patchworkpp)
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target_link_libraries(pypatchworkpp PUBLIC ${PARENT_PROJECT_NAME}::${TARGET_NAME})
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
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target_compile_options(pypatchworkpp PUBLIC -fsized-deallocation)

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