Merge pull request #18 from ori-drs/sn-core-ros-lcm

Re-organized repository.

.gitignore

-pod-build
 *~
 python/results
 python/.ipynb_checkpoints
@@ -6,3 +5,5 @@ python/.ipynb_checkpoints
 # Files
 matlab/*.png
 *.user
+**/build
+

CMakeLists.txt

-cmake_minimum_required(VERSION 2.8.3)
-project(aicp)
-
-# get path to aicp base
-add_definitions(-DPROJECTDIR=\"${CMAKE_CURRENT_SOURCE_DIR}\")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -Wno-deprecated-declarations")
-
-find_package(catkin REQUIRED COMPONENTS
-  bot_lcmgl
-  octomap_utils
-  octomap_lcmtypes
-  pronto_vis
-  concise_args
-  cloud_accumulate
-  cv_bridge
-  pointmatcher_ros
-  pcl_ros
-  bot_core_lcmtypes
-  laser_geometry
-  message_generation
-)
-
-## Generate messages in the 'srv' folder
-add_service_files( FILES
-  ProcessFile.srv
-)
-generate_messages( DEPENDENCIES )
-
-pkg_check_modules(yaml_cpp REQUIRED yaml-cpp)
-find_package(OpenCV 3.0 QUIET)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES aicp_registration
-  CATKIN_DEPENDS message_runtime bot_lcmgl octomap_utils octomap_lcmtypes pronto_vis concise_args pointmatcher_ros pcl_ros
-)
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
-
-
-find_package(VTK REQUIRED)
-include(${VTK_USE_FILE})
-
-### pcl
-find_package(PkgConfig REQUIRED)
-
-pkg_check_modules(PCL_LIBS pcl_io-1.7)
-if(PCL_LIBS_FOUND)
-  find_package(PCL 1.7 REQUIRED)
-  set(PCL_LIBRARIES "pcl_io-1.7 pcl_filters-1.7 pcl_segmentation-1.7 pcl_common-1.7 pcl_visualization-1.7")
-endif()
-
-pkg_check_modules(PCL_LIBS_1_8 pcl_io-1.8)
-if(PCL_LIBS_1_8_FOUND)
-  find_package(PCL 1.8 REQUIRED)
-  set(PCL_LIBRARIES "pcl_io-1.8 pcl_filters-1.8 pcl_segmentation-1.8 pcl_common-1.8 pcl_visualization-1.8")
-endif()
-
-include_directories(${PCL_INCLUDE_DIRS})
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
-
-add_subdirectory(src/utils)
-add_subdirectory(src/registration)
-add_subdirectory(src/overlap)
-add_subdirectory(src/classification)
-add_subdirectory(src/registration_apps)
-add_subdirectory(src/pcl)
-add_subdirectory(src/kitti)
-add_subdirectory(src/test)

aicp_core/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+
+project(aicp_core)
+add_compile_options(-std=c++11)
+set(AICP_CORE_LIB ${PROJECT_NAME})
+
+# Find system dependencies (buildtime dependencies)
+find_package(catkin REQUIRED)
+find_package(libpointmatcher REQUIRED)
+find_package(PCL REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(octomap REQUIRED)
+find_package(OpenCV 3.0 REQUIRED)
+
+# Add include directories
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
+  ${OCTOMAP_INCLUDE_DIRS}
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${AICP_CORE_LIB} # libraries which will be visible outside 
+            aicpRegistration
+            aicpOverlap
+            aicpClassification
+            aicpUtils 
+  CATKIN_DEPENDS
+  DEPENDS PCL
+          OCTOMAP
+          OpenCV) # dependencies which will be taken outside
+  
+  
+#################
+# Utils library #
+#################
+add_library(aicpUtils SHARED src/utils/common.cpp
+                             src/utils/timing.cpp
+                             src/utils/cloudIO.cpp
+                             src/utils/fileIO.cpp
+                             src/utils/icpMonitor.cpp
+                             src/utils/filteringUtils.cpp)
+target_link_libraries(aicpUtils ${libpointmatcher_LIBRARIES}
+                                ${PCL_LIBRARIES})
+
+
+##################
+# Octree-overlap #
+##################
+add_library(aicpOverlap SHARED src/overlap/octrees_overlap.cpp)
+target_link_libraries(aicpOverlap ${PCL_LIBRARIES}
+                                  ${OCTOMAP_LIBRARIES})
+
+
+#################
+# Clasification #
+#################
+add_library(aicpClassification SHARED src/classification/svm.cpp)
+target_link_libraries(aicpClassification ${OpenCV_LIBS})
+                                         
+add_executable(aicp_classification_main src/classification/main.cpp)
+target_link_libraries(aicp_classification_main aicpClassification
+                                               aicpUtils
+                                               yaml-cpp)
+add_executable(aicp_classification_example src/classification/example.cpp)
+target_link_libraries(aicp_classification_example aicpClassification
+                                                  aicpUtils
+                                                  yaml-cpp)
+                                                  
+                                                  
+################  
+# Registration #
+################
+add_library(aicpRegistration SHARED src/registration/pointmatcher_registration.cpp
+                                    src/registration/aligned_cloud.cpp
+                                    src/registration/aligned_clouds_graph.cpp)
+target_link_libraries(aicpRegistration ${libpointmatcher_LIBRARIES}
+                                       ${PCL_LIBRARIES}
+                                       yaml-cpp)
+
+                                      
+################  
+# Core library #
+################
+add_library(${AICP_CORE_LIB} SHARED src/registration/app.cpp
+                                    src/registration/yaml_configurator.cpp)
+target_link_libraries(${AICP_CORE_LIB} yaml-cpp
+                                       aicpRegistration
+                                       aicpOverlap
+                                       aicpClassification
+                                       aicpUtils)
+
+
+#############
+# Unit test #
+#############
+add_executable(aicp_test test/aicp_test.cpp)
+target_link_libraries(aicp_test ${AICP_CORE_LIB})
+
+
+#############
+## Install ##
+#############
+install(TARGETS ${TARGETS} ${AICP_CORE_LIB}
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY include/aicp_registration/
+                  include/aicp_overlap/
+                  include/aicp_classification/
+                  include/aicp_utils/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        FILES_MATCHING PATTERN "*.hpp")
+
+###############  
+# Extra Tools #
+###############
+#add_subdirectory(src/tools)

config/aicp_config.yaml → aicp_core/config/aicp_config.yaml

@@ -2,27 +2,20 @@ AICP: {
   Registration: {
     type: "Pointmatcher",
     sensorRange: 100.0,         # in meters
-    sensorAngularView: 360.0,  # in degrees
+    sensorAngularView: 360.0,   # in degrees
     loadPosesFrom: "", # "file" (ground truth poses), "pcd", "" is from log if available
     initialTransform: "", # x[m], y[m], yaw[deg]
                                      # - if "random" initialTransform will be
                                      # sampled from Gaussian distributed perturbations
                                      # with 0.1 m and 10 deg variance magnitude
                                      # - if "" no initial tranform will be applied
-    saveCorrectedPose: true, # idA, idB, x, y, z, w, x, y, z
-                             # (valid if loadPosesFrom)
-    saveInitializedReadingCloud: true,
-    saveRegisteredReadingCloud: true,
-    enableLcmVisualization: true,
 
     Pointmatcher: {
-      configFileName: "icp_autotuned_default.yaml",
-      printOutputStatistics: false, # TODO (not enabled yet)
+      printOutputStatistics: false, # TODO (not enabled)
     }
   },
   Overlap: {
     type: "OctreeBased",
- #   loadPosesFromFile: "pose_scanner_leica_affine_apartment.txt", # Ground truth poses
 
     OctreeBased: {
       octomapResolution: 0.2,
@@ -32,12 +25,7 @@ AICP: {
     type: "SVM",
 
     SVM: {
-      threshold: 0.50,
-      trainingFile: "${DRS_BASE}/../aicp/data/labels/training_all_labelled_1Sep.txt",
-      testingFile: "${DRS_BASE}/../aicp/data/labels/testing_labelled_27Aug.txt",
-      saveFile: "${DRS_BASE}/../aicp/data/classification/svm_1000training_thresh50_cross_validation_opencv3.xml",
-      saveProbs: "${DRS_BASE}/../aicp/data/classification/probs_opencv3.txt",
-      modelLocation: "${DRS_BASE}/../aicp/data/models/svm_opencv3.xml",
+      threshold: 0.50
     },
   }
 }

config/aicp_test_config.yaml → aicp_core/config/aicp_test_config.yaml

@@ -3,9 +3,10 @@ AICP: {
     type: "Pointmatcher", # GICP, Kaess
     sensorRange: 30.0,         # in meters
     sensorAngularView: 270.0,  # in degrees
+    loadPosesFrom: "pcd",
 
     Pointmatcher: {
-      configFileName: "icp_autotuned_default.yaml",
+      configFileName: "/home/snobili/code/aicp_base/git/aicp/aicp_core/config/icp/icp_autotuned_default.yaml",
     }
   },
   Overlap: {