BichenWuUCB · gyubeomim · Apr 11, 2018 · Apr 11, 2018 · Apr 11, 2018 · Apr 11, 2018
diff --git a/ROS_packages/kitti_velodyne_to_ros/CMakeLists.txt b/ROS_packages/kitti_velodyne_to_ros/CMakeLists.txt
@@ -0,0 +1,200 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(kitti_velodyne_to_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  pcl_ros
+  roscpp
+  sensor_msgs
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES kitti_velodyne_to_ros
+#  CATKIN_DEPENDS pcl_ros roscpp sensor_msgs std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/kitti_velodyne_to_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(${PROJECT_NAME}_node src/kitti_velodyne_to_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_kitti_velodyne_to_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/ROS_packages/kitti_velodyne_to_ros/README.md b/ROS_packages/kitti_velodyne_to_ros/README.md
@@ -0,0 +1,32 @@
+### .npy file visualizer for ROS
+---
+- basically It has two commands 
+- one is for `.bin` file from KITTI velodyne datasets, another is for `.npy` file from SqueezeSeg datasets
+  - commands are introduced below
+
+
+<br><br>
+![](https://github.com/tigerk0430/SqueezeSeg/blob/master/kitti_velodyne_to_ros/gif_and_pics/squeezeseg_npy.gif)
+
+
+<br><br>
+### Instrunction
+---
+1. add codes in your `eval.py` like below 117-122 lines  
+  1.1 then you can save `pred_~~~.npy` files after evaluation. It'd be prediction data
+![](https://github.com/tigerk0430/SqueezeSeg/blob/master/kitti_velodyne_to_ros/gif_and_pics/added_code.png)
+2. run `eval.sh` and save `pred_~~~.npy` files into specific path  
+3. move this `kitty_velodyne_to_ros` folder to your `catkin_ws` folder and run `catkin_make`
+4. modify `.launch` file to your data paths.
+5. run commands below
+
+
+<br><br>
+### Available commands
+--- 
+(for `.bin` file from KITTI datasets)
+1. `rosrun kitti_velodyne_to_ros kitti_velodyne_to_ros_node`
+
+(for `.npy` file from SqueezeSeg) (after modifying path in .launch file)
+
+2. `roslaunch kitti_velodyne_to_ros npy_velodyne_to_ros.launch`
diff --git a/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/added_code.png b/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/added_code.png
diff --git a/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/kitti_bin.gif b/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/kitti_bin.gif
diff --git a/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/npy.png b/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/npy.png
diff --git a/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/squeezeseg_npy.gif b/ROS_packages/kitti_velodyne_to_ros/gif_and_pics/squeezeseg_npy.gif
diff --git a/ROS_packages/kitti_velodyne_to_ros/launch/npy_tensorflow_to_ros.launch b/ROS_packages/kitti_velodyne_to_ros/launch/npy_tensorflow_to_ros.launch
@@ -0,0 +1,31 @@
+<launch>
+  <!--
+      online segmentation using .npy & SqueezeSeg model
+      this script can
+                    1. read all .npy file from lidar_2d folder
+                    2. predict label from SqueezeSeg model using tensorflow
+                    3. publish to 'sqeeuze_seg/points' topic
+
+    strongly inspired from [https://github.com/Durant35/SqueezeSeg]
+    original code          [https://github.com/BichenWuUCB/SqueezeSeg]
+  -->
+
+  <!-- Path should End with '/' -->
+  <param name="npy_path" type="string" value="/media/dyros-vehicle/edward_6/datasets/lidar_2d/" />
+  <param name="npy_path_pred" type="string" value="/home/dyros-vehicle/gitrepo/ims_ml/SqueezeSeg/data/sample_out_ed/" />
+  <param name="npy_file_list" type="string" value="/home/dyros-vehicle/gitrepo/ims_ml/SqueezeSeg/data/ImageSet/val.txt" />
+  <param name="pub_topic" type="string" value="squeeze_seg/points" />
+
+  <!-- should be absolute path for checkpoint -->
+  <param name="checkpoint" type="string" value="/home/dyros-vehicle/gitrepo/ims/ROS/catkin_ws_kinetic/src/kitti_velodyne_to_ros/script/data/SqueezeSeg/model.ckpt-23000" />
+  <param name="gpu" type="string" value="0" />
+
+
+
+  <node pkg="kitti_velodyne_to_ros" type="npy_tensorflow_to_ros_node.py" name="npy_tensorflow_to_ros" output="screen" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find kitti_velodyne_to_ros)/rviz/npy_velodyne_to_ros.rviz" />
+
+</launch>
+
+
diff --git a/ROS_packages/kitti_velodyne_to_ros/launch/npy_velodyne_to_ros.launch b/ROS_packages/kitti_velodyne_to_ros/launch/npy_velodyne_to_ros.launch
@@ -0,0 +1,13 @@
+<launch>
+  <!-- Path should End with '/' -->
+  <param name="npy_path" type="string" value="/media/dyros-vehicle/edward_6/datasets/lidar_2d/" />
+  <param name="npy_path_pred" type="string" value="/home/dyros-vehicle/gitrepo/ims_ml/SqueezeSeg/data/sample_out_ed/" />
+  <param name="npy_file_list" type="string" value="/home/dyros-vehicle/gitrepo/ims_ml/SqueezeSeg/data/ImageSet/val.txt" />
+
+
+  <node pkg="kitti_velodyne_to_ros" type="npy_velodyne_to_ros_node.py" name="npy_velodyne_to_ros" output="screen" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find kitti_velodyne_to_ros)/rviz/npy_velodyne_to_ros.rviz" />
+
+</launch>
+
diff --git a/ROS_packages/kitti_velodyne_to_ros/move_this_folders_to_your_catkin_ws b/ROS_packages/kitti_velodyne_to_ros/move_this_folders_to_your_catkin_ws
diff --git a/ROS_packages/kitti_velodyne_to_ros/package.xml b/ROS_packages/kitti_velodyne_to_ros/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kitti_velodyne_to_ros</name>
+  <version>0.0.0</version>
+  <description>The kitti_velodyne_to_ros package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">dyros-vehicle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/kitti_velodyne_to_ros</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>pcl_ros</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>