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LimHyungTaeLimHyungTae
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Add an example to show how to use the locally install patchworkpp package in another package.
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‎cpp/example_of_find_package/CMakeLists.txt

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cmake_minimum_required(VERSION 3.11)
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project(example_of_find_package 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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find_package(Eigen3 REQUIRED)
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find_package(patchworkpp REQUIRED)
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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 ${CMAKE_CURRENT_SOURCE_DIR})
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endif()
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include_directories(${patchworkpp_INCLUDE_DIRS})
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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 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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add_executable(demo_visualize ${CMAKE_CURRENT_SOURCE_DIR}/demo_visualize_copied.cpp)
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# Note that `patchworkpp::ground_seg_cores` is aliased as `ground_seg_cores` when installing `patchworkpp` package
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target_link_libraries(demo_visualize patchworkpp::ground_seg_cores ${Open3D_LIBRARIES} "stdc++fs")
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target_include_directories(demo_visualize PUBLIC ${Open3D_INCLUDE_DIRS})
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‎cpp/example_of_find_package/README.md

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# Patchwork++ as an Independent Package in C++
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In this directory, we demonstrate how to use `patchworkpp` package using the `find_pakcage` command in `CMakeLists.txt`.
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## How to build
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In this directory,
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```commandline
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# 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 the following command:
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```commandline
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./demo_visualize
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```
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Then, you can see the exact same result as Example 1 in the `cpp` directory!
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‎cpp/example_of_find_package/demo_visualize_copied.cpp

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#include <patchwork/patchworkpp.h>
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#include <iostream>
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#include <fstream>
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#include <open3d/Open3D.h>
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// for list folder
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#include <experimental/filesystem>
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namespace fs = std::experimental::filesystem;
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using namespace open3d;
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int filename_length = std::string("demo_visaulize_copied.cpp").length();
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std::string file_dir = std::string(__FILE__);
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std::string data_dir = file_dir.substr(0, file_dir.size()-filename_length) + "../../data/";
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void read_bin(std::string bin_path, Eigen::MatrixXf &cloud)
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{
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FILE *file = fopen(bin_path.c_str(), "rb");
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if (!file) {
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std::cerr << "error: failed to load " << bin_path << std::endl;
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return;
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}
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std::vector<float> buffer(1000000);
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size_t num_points = fread(reinterpret_cast<char *>(buffer.data()), sizeof(float), buffer.size(), file) / 4;
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cloud.resize(num_points, 4);
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for (int i=0; i<num_points; i++)
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{
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cloud.row(i) << buffer[i*4], buffer[i*4+1], buffer[i*4+2], buffer[i*4+3];
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}
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}
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void eigen2geo(Eigen::MatrixXf add, std::shared_ptr<geometry::PointCloud> geo)
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{
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for ( int i=0; i<add.rows(); i++ ) {
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geo->points_.push_back(Eigen::Vector3d(add.row(i)(0), add.row(i)(1), add.row(i)(2)));
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}
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}
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void addNormals(Eigen::MatrixXf normals, std::shared_ptr<geometry::PointCloud> geo)
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{
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for (int i=0; i<normals.rows(); i++) {
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geo->normals_.push_back(Eigen::Vector3d(normals.row(i)(0), normals.row(i)(1), normals.row(i)(2)));
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}
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}
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int main(int argc, char* argv[]) {
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cout << "Execute" << __FILE__ << endl;
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// Get the dataset
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std::string input_cloud_filepath;
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if (argc < 2) {
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// Try out running on the test datasets.
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input_cloud_filepath = data_dir + "000000.bin";
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std::cout << "\033[1;33mNo point cloud file path specified; defaulting to the test directory. \033[0m" << std::endl;
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} else {
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input_cloud_filepath = argv[1];
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std::cout << "\033[1;32mLoading point cloud files from " << input_cloud_filepath << "\033[0m" << std::endl;
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}
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if(!fs::exists(input_cloud_filepath)){
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std::cout << "\033[1;31mERROR HERE: maybe wrong data file path, please check the path or remove argv to run default one. \033[0m"
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<< "\nThe file path you provide is: " << input_cloud_filepath << std::endl;
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return 0;
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}
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// Patchwork++ initialization
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patchwork::Params patchwork_parameters;
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patchwork_parameters.verbose = true;
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patchwork::PatchWorkpp Patchworkpp(patchwork_parameters);
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// Load point cloud
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Eigen::MatrixXf cloud;
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read_bin(input_cloud_filepath, cloud);
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// Estimate Ground
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Patchworkpp.estimateGround(cloud);
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// Get Ground and Nonground
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Eigen::MatrixX3f ground = Patchworkpp.getGround();
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Eigen::MatrixX3f nonground = Patchworkpp.getNonground();
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double time_taken = Patchworkpp.getTimeTaken();
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Eigen::VectorXi ground_idx = Patchworkpp.getGroundIndices();
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Eigen::VectorXi nonground_idx = Patchworkpp.getNongroundIndices();
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// Get centers and normals for patches
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Eigen::MatrixX3f centers = Patchworkpp.getCenters();
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Eigen::MatrixX3f normals = Patchworkpp.getNormals();
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cout << "Origianl Points #: " << cloud.rows() << endl;
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cout << "Ground Points #: " << ground.rows() << endl;
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cout << "Nonground Points #: " << nonground.rows() << endl;
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cout << "Time Taken : "<< time_taken / 1000000 << "(sec)" << endl;
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cout << "Press ... \n" << endl;
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cout << "\t H : help" << endl;
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cout << "\t N : visualize the surface normals" << endl;
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cout << "\tESC : close the Open3D window" << endl;
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// Visualize
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std::shared_ptr<geometry::PointCloud> geo_ground(new geometry::PointCloud);
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std::shared_ptr<geometry::PointCloud> geo_nonground(new geometry::PointCloud);
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std::shared_ptr<geometry::PointCloud> geo_centers(new geometry::PointCloud);
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eigen2geo(ground, geo_ground);
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eigen2geo(nonground, geo_nonground);
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eigen2geo(centers, geo_centers);
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addNormals(normals, geo_centers);
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geo_ground->PaintUniformColor(Eigen::Vector3d(0.0, 1.0, 0.0));
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geo_nonground->PaintUniformColor(Eigen::Vector3d(1.0, 0.0, 0.0));
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geo_centers->PaintUniformColor(Eigen::Vector3d(1.0, 1.0, 0.0));
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visualization::Visualizer visualizer;
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visualizer.CreateVisualizerWindow("Open3D", 1600, 900);
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visualizer.AddGeometry(geo_ground);
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visualizer.AddGeometry(geo_nonground);
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visualizer.AddGeometry(geo_centers);
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visualizer.Run();
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visualizer.DestroyVisualizerWindow();
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}

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