visualize .npy file to ROS Rviz && C++ Spherical Projection ROS Package added (180828)

[gyubeomim]

I've added .npy file visualizer for ROS Rviz.

It isn't perfect but It's useful when you check your evaluate files.

It's using .npy file then you need to have

1. lidar_2d folder's .npy file
2. eval.sh's pred_~~~.npy file (you need to modify eval.py codes to make this files) 2.1 after running eval.sh, It doesn't create pred_~~~.npy file but you can create pred_~~~.npy file by adding np.save() code after pred_cls = ~~ code parts.

for more details, see README.md

[gyubeomim]

• result looks like this

  

[gyubeomim]

+) 180516 .npy & squeezeseg & ROS publish code added.

It means you don't have to make pred_~~~.npy files and just using .npy file to predict classes. code is running like this

1. read all .npy file from lidar_2d folder
2. predict label from SqueezeSeg model using tensorflow
3. publish to sqeeuze_seg/points topic

run command is $ roslaunch kitti_velodyne_to_ros npy_tensorflow_to_ros.launch but you have to modify parameters in .launch before running command

[gyubeomim]

+) 180828

/velodyne_points to [512, 64] c++ conversion ROS package added.

1. move from squeezeseg_cpp_preprocessing folder to your ROS workspace
2. open script/online.py and modify checkpoint path to your system
3. open script/segment_node.py and modify sys.path.append path as well
4. run catkin_make
5. run roslaunch squeezeseg_cpp_preprocessing ss_cpp_preprocessing.launch
6. open RViz and check squeeze_seg/points topic whether publishing correctly or not.

this codes STRONGLY inspired from https://github.com/durant35/SqueezeSeg

Result

• you can use any .bag file which have velodyne points NOW.
• because of C++ Conversion, Hz is almost TWICE faster than python code. (7 --> 12 Hz)

[MoonWolf9067]

@tigerk0430 Hi! Thank you very much for sharing! When I run the command: roslaunch squeezeseg_cpp_preprocessing ss_cpp_preprocessing.launch I have encountered the following problem, it stopped running.

[gyubeomim]

Hello @MoonWolf9067 ,

I think you typed correct command. open another terminal and type rqt . If it's working correctly, It's waiting for data from velodyne_points topic

[MoonWolf9067]

Thank you very much for your reply! I open another terminal and type rqt, but it does not work. Can you run the command successfully? I am looking forward to your reply.

[gyubeomim]

@MoonWolf9067

You're welcome, I'll be very busy by Thursday afternoon due to the conference presentation. after that, I'll answer your question with more detail.

Thank you!

[MoonWolf9067]

I am very happy to receive your reply, thank you very much.

[gyubeomim]

hello @MoonWolf9067

I tried squeezeseg_cpp_preprocessing ROS Package and run it. and result looks like this without any error and this is rqt node graph

the ROS Package works fine. then your machine has something imcompatible program which need to be fixed. I think this is because libuuid.so.1 issue but I'm not sure. take a look below link https://github.com/conda-forge/libuuid-feedstock/issues/15 googling error sentence and fix it first.

Thank you!

[MoonWolf9067]

Thank you very much！I found out that I have a problem with the ros I installed.

[lxa199709]

hi,thank you very much for your sharing ,but when i run roslaunch squeezeseg_cpp_preprocessing ss_cpp_preprocessing.launch,i get an error like this ,can you help me to solve this problem？ i will appreciate it very much /home/lxa/图片/2020-02-08 13-16-52屏幕截图.png

[gyubeomim]

@lxa199709

I haven't maintained this PR for several months, so I'm not sure I can deal with your prob.

by the way, your figure doesn't show correctly. I couldn't see anything. could you upload the figure agian?

[seanxu889]

Hello, I have a problem: After I run the "rqt" I got nothing, it is blank. Do you know any possible reason? I have already run the "roslaunch squeezeseg_cpp_preprocessing ss_cpp_preprocessing.launch" and play the rosbag data.

[seanxu889]

@MoonWolf9067 Hello, I got the exact same error as yours. I got nothing after running rqt. May I ask how do you solve the issue?