(minor) update minor things

LimHyungTae · Jul 28, 2024 · d9090a0 · d9090a0
1 parent 82b84d6
commit d9090a0
Show file tree

Hide file tree

Showing 4 changed files with 28 additions and 24 deletions.
diff --git a/README.md b/README.md
@@ -43,10 +43,6 @@ It's an overall updated version of **R-GPF of ERASOR** [**[Code](https://github.
 
 ### Characteristics
 
-* Single hpp file (`include/patchwork/patchwork.hpp`)
-
-* Robust ground consistency
-
 As shown in the demo videos, our method shows the most promising robust performance compared with other state-of-the-art methods, especially, our method focuses on the little perturbation of precision/recall as shown in [this figure](img/seq_00_pr_zoom.pdf).
 
 Please kindly note that the concept of *traversable area* and *ground* is quite different! Please refer to our paper.

diff --git a/launch/offline_kitti.launch b/launch/offline_kitti.launch
@@ -1,14 +1,17 @@
 <launch>
+    <!-- Define an argument for data_path with a default value -->
+    <!-- See the example. It should indicate the sequence directory -->
+    <arg name="data_path" default="/media/shapelim/UX960NVMe1/kitti_semantic/dataset/sequences/04" />
+    <param name="/data_path" type="string" value="$(arg data_path)" />
+    <node name="$(anon offline_kitti)" pkg="patchwork" type="offline_kitti" output="screen">
+        <rosparam param="/algorithm">"patchwork"</rosparam>
+        <rosparam param="/save_flag">false</rosparam>
+        <rosparam param="/use_sor_before_save">false</rosparam>
+        <rosparam param="/start_frame">0</rosparam>
+        <rosparam param="/end_frame">10000</rosparam>
 
-<node name="$(anon offline_kitti)" pkg="patchwork" type="offline_kitti" output="screen">
-<rosparam param="/algorithm">"patchwork"</rosparam> 
-<rosparam param="/save_flag">false</rosparam>
-<rosparam param="/use_sor_before_save">false</rosparam>
-<rosparam param="/start_frame">0</rosparam>
-<rosparam param="/end_frame">10000</rosparam>
-<rosparam param="/data_path">"/media/shapelim/UX960NVMe11/kitti_semantic/dataset/sequences/04"</rosparam>
-</node>
-<node name="rviz" pkg="rviz" type="rviz" args="-d $(find patchwork)/rviz/patchwork_viz.rviz"/>
+    </node>
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find patchwork)/rviz/patchwork_viz.rviz"/>
 
-<rosparam command="load" file="$(find patchwork)/config/params.yaml" />
+    <rosparam command="load" file="$(find patchwork)/config/params.yaml" />
 </launch>
diff --git a/nodes/offline_kitti.cpp b/nodes/offline_kitti.cpp
@@ -145,7 +145,12 @@ int main(int argc, char**argv) {
 // -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -
 //        If you want to save precision/recall in a text file, revise this part
 // -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -
-        output_filename = "/home/shapelim/patchwork.txt";
+        const char* home_dir = std::getenv("HOME");
+        if (home_dir == nullptr) {
+            std::cerr << "Error: HOME environment variable not set." << std::endl;
+            return 1;
+        }
+        std::string output_filename = std::string(home_dir) + "/patchwork_quantitaive_results.txt";
         ofstream ground_output(output_filename, ios::app);
         ground_output << n << "," << time_taken << "," << precision << "," << recall << "," << precision_naive << "," << recall_naive;
         ground_output << std::endl;

diff --git a/rviz/patchwork_viz.rviz b/rviz/patchwork_viz.rviz
@@ -11,7 +11,7 @@ Panels:
         - /est_ground1/est_ground1
         - /est_ground1/est_ground_filtered1
       Splitter Ratio: 0.6044568419456482
-    Tree Height: 467
+    Tree Height: 444
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -266,7 +266,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-      Enabled: false
+      Enabled: true
       Name: TFPN
     - Class: rviz/Group
       Displays:
@@ -326,7 +326,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-      Enabled: true
+      Enabled: false
       Name: est_ground
   Enabled: true
   Global Options:
@@ -372,17 +372,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 1.1047967672348022
       Target Frame: <Fixed Frame>
-      Yaw: 3.141618013381958
+      Yaw: 2.351613998413086
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 759
+  Height: 736
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c10000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000372000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d00000039fc0100000002fb0000000800540069006d006501000000000000056d000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c100000247fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000247000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000372000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d00000039fc0100000002fb0000000800540069006d006501000000000000056d000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000024700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -392,5 +392,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1389
-  X: 531
-  Y: 120
+  X: 2069
+  Y: 492