add sources

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(didi_pipeline)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+add_definitions(-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
+  roscpp
+  rosbag
+  sensor_msgs
+  std_msgs
+  roslaunch
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# PCL
+find_package(PCL 1.8 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+#MESSAGE("PCL information:") 
+#MESSAGE("  PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}") 
+#MESSAGE("  PCL_LIBRARIES: ${PCL_LIBRARIES}") 
+#MESSAGE("  PCL_DEFINITIONS: ${PCL_DEFINITIONS}") 
+
+## 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 you 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 didi_pipeline
+#  CATKIN_DEPENDS roscpp rospy 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)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  include
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/didi_pipeline.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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}_detector 
+	src/occupancy_grid.cpp
+	src/segmentation.cpp
+	src/filters.cpp
+	src/utils.cpp
+	src/detector.cpp
+	src/tracklet.cpp
+	src/detector_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} ${catkin_EXPORTED_TARGETS})
+
+roslaunch_add_file_check(launch)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_detector
+  ${catkin_LIBRARIES}
+  ${PCL_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_didi_pipeline.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)

README.md

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+ROS (catkin) package for Udacity/Didi Competition data visualization and modelling. Any contribution is welcome!
+
+### Dependencies
+This requires ROS Kinetic. Please refer to the [ROS Documentation](http://wiki.ros.org/ROS/Tutorials/BuildingPackages) on how to build catkin packages.
+
+Other dependencies:
+* numpy
+* ROS Velodyne driver https://bitbucket.org/DataspeedInc/ros_binaries
+
+### Usage
+Launch the visualiver:
+```
+roslaunch didi_pipeline visualize.launch
+```
+
+Play a bag file:
+```
+roslaunch didi_pipeline play.launch bag:=absolute_path_to_bag_file
+```

include/didi_pipeline/detector.h

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+/*
+ * detector.h
+ *
+ *  Created on: May 11, 2017
+ *      Author: kaliev
+ */
+
+#ifndef DIDI_PIPELINE_INCLUDE_DIDI_PIPELINE_DETECTOR_H_
+#define DIDI_PIPELINE_INCLUDE_DIDI_PIPELINE_DETECTOR_H_
+
+
+#include "typedefs.h"
+
+#include <pcl/PointIndices.h>
+#include <pcl/common/centroid.h>
+
+#include <string>
+
+
+namespace didi
+{
+
+
+/* Oriented bounding box class */
+class OrientedBB
+{
+public:
+	OrientedBB() {}
+
+	Eigen::Quaternionf rotation; // rotation relative to the point cloud frame
+	Eigen::Vector3f centroid; // geometrical center of the bb
+	float length{}; // x-extent
+	float width{}; // y-extent
+	float height{}; // z-extent
+};
+
+
+/* Calculate oriented bounding box enclosing the point cloud */
+void calculateCarOrientedBB(PointCloudT::Ptr cloud,
+		PointCloudT::Ptr projCloud,
+		const pcl::PointIndices &indices,
+		Eigen::Vector3f upVector,
+		OrientedBB &bb);
+
+/* Filter bounding boxes that are likely cars */
+void coarseBBFilterCars(const std::vector<OrientedBB> &bbs, std::vector<int> &indices);
+
+
+/* Track of an object */
+class Track
+{
+public:
+	class Node
+	{
+	public:
+		Node(PointCloudT::Ptr cloud_, OrientedBB bb_)
+			: cloud(cloud_), bb(bb_)
+		{
+			precompute();
+		}
+
+		Eigen::Vector3f centroid() const
+		{
+			return bb.centroid;
+			//return cloudCentroid;
+		}
+
+		PointCloudT::Ptr cloud;
+
+		OrientedBB bb;
+
+		Eigen::Vector3f cloudCentroid;
+
+		double stamp{}; // seconds
+
+	private:
+		void precompute()
+		{
+			// CENTROID
+			Eigen::Vector4f v4;
+			compute3DCentroid(*cloud, v4);
+			cloudCentroid = v4.head<3>();
+
+			// TIMESTAMP
+			stamp = cloud->header.stamp * 1e-6;
+		}
+	};
+
+	Track() {}
+
+	void addNode(const Node &node)
+	{
+		nodes.push_back(node);
+	}
+
+	float distance(const Node &node)
+	{
+		Eigen::Vector3f d = nodes.back().centroid() - node.centroid();
+
+		return std::sqrt(d.dot(d));
+	}
+
+	float distanceExpected(const Node &node)
+	{
+		if (nodes.size() < 2) {
+			return distance(node);
+		}
+
+		Eigen::Vector3f ep = 2 * nodes[nodes.size() - 1].centroid() - nodes[nodes.size() - 2].centroid();
+		Eigen::Vector3f d = ep - node.centroid();
+
+		return std::sqrt(d.dot(d));
+	}
+
+	std::vector<Node> nodes;
+};
+
+
+};
+
+
+#endif /* DIDI_PIPELINE_INCLUDE_DIDI_PIPELINE_DETECTOR_H_ */