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JinyongJeong / Velodyne_ObjectDetection_ROS

This code is object detection code using velodyne. Object points are extracted from background points that is set in initialize step.
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readme

Now this code is not maintained

README

Environment

install environment: ubuntu 16.04

Dependency

Installation

You must install these dependency in order because VTK have dependency with qt5 and PCL have dependecy with VTK.

  1. git clone this repository

  2. run essential_install.sh

cd third-party
chmod 777 ./essential_install.sh
sudo ./essential_install.sh
  1. install qt5

There is shell file for installation of qt5 in third party folder.

sudo ./install_qt.sh
  1. Install VTK
git clone https://github.com/Kitware/VTK.git

make build folder and cmake with option to inform qt path. 

cd VTK
mkdir build
cd build
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.6.1/5.6/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/opt/Qt5.6.1/5.6/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..
make -j8
sudo make install
  1. INstall PCL

other dependent library is installed when you run essential_install.sh.

git clone https://github.com/PointCloudLibrary/pcl.git

To use Qt5 you installed, cmake prefix should be set in /pcl/cmake/pcl_find_qt5.cmake file. Add follow line on the top of /pcl/cmake/pcl_find_qt5.cmake file. 

set(CMAKE_PREFIX_PATH /opt/Qt5.6.1/5.6/gcc_64/lib/cmake)

Then, make build folder and make.

mkdir build
cd build
cmake ..
make -j8
make install
  1. Install ROS

refer to page

ROS-Base version is recommended because some package of ROS is comflict to pcl or qt

sudo apt-get install ros-kinetic-ros-base

Fianlly, git clone to catkin workspace, and make!

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