From cb2cbd51f47ef85d0b84465b0c411d4ed30be655 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Tue, 8 Jan 2019 16:26:46 +0100 Subject: [PATCH] Remove obsolete lidar_svm_detect --- .../packages/lidar_svm_detect/CHANGELOG.rst | 190 ------------------ .../packages/lidar_svm_detect/CMakeLists.txt | 56 ------ .../packages/lidar_svm_detect/interface.yaml | 3 - .../launch/lidar_svm_detect.launch | 6 - .../lidar_svm_detect/lidar_svm_detect.cpp | 118 ----------- .../packages/lidar_svm_detect/package.xml | 28 --- 6 files changed, 401 deletions(-) delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CHANGELOG.rst delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/interface.yaml delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/launch/lidar_svm_detect.launch delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/nodes/lidar_svm_detect/lidar_svm_detect.cpp delete mode 100644 ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/package.xml diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CHANGELOG.rst b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CHANGELOG.rst deleted file mode 100644 index 16b3297517e..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CHANGELOG.rst +++ /dev/null @@ -1,190 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package lidar_svm_detect -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- -* [Fix] Moved C++11 flag to autoware_build_flags (`#1395 `_) -* [Feature] Makes sure that all binaries have their dependencies linked (`#1385 `_) -* Contributors: Esteve Fernandez - -1.7.0 (2018-05-16) ------------------- -* [Fix] rename packages (`#1269 `_) - * rename lidar_tracker - * Modify pf_lidar_track's cmake file - * Refactor code - * Rename from euclidean_lidar_tracker to lidar_euclidean_track - * Rename from kf_contour_track to lidar_kf_contour_track - * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h) - * Rename from pf_lidar_tarck to lidar_pf_track - * Rename range_fusion - * Rename obj_reproj - * Rename euclidean_cluster to lidar_euclidean_cluster_detect - * Rename svm_lidar_detect to lidar_svm_detect - * Rename kf_lidar_track to lidar_kf_track - * Change version 1.6.3 to 1.7.0 in pacakge.xml - * Modify CMake so that extrenal header would be loaded - * Remove obj_reproj from cv_tracker - * Add interface.yaml - * Rename road_wizard to trafficlight_recognizer - * create common directory - * Add lidar_imm_ukf_pda_track - * create vision_detector and moved cv - * Modify interface.yaml and package.xml - * remove dpm_ocv - * moved directory - * Delete unnecessary launch file - * Delete rcnn related file and code - * separated dummy_track from cv_tracker - * separated klt_track from cv_tracker - * Fix a cmake - * Remove unnecessary dependency of lidar_euclidean_cluster_detect package - * Rename image_segmenter to vision_segment_enet_detect - * Remove unnecessary dependency of lidar_svm_detect package - * separated kf_track and fix a some compiling issue - * move viewers - * merge ndt_localizer and icp_localizer, and rename to lidar_localizer - * Remove unnecessary dependency of lidar_euclidean_track - * moved image lib - * add launch - * lib move under lidar_tracker - * Rename dpm_ttic to vision_dpm_ttic_detect - * rename yolo3detector to vision_yolo3_detect - * Modify cmake and package.xml in vision_dpm_ttic_detect - * moved sourcefiles into nodes dir - * moved sourcefiles into nodes dir - * Move cv_tracker/data folder and delete cv_tracker/model folder - * fix a package file and cmake - * Rename yolo2 -> vision_yolo2_detect - * fix a package file and cmake - * Fix package name of launch file - * Rename ssd to vision_ssd_detect - * fixed cmake and package for decerese dependencies - * remove top packages dir for detection - * fixed cmake for cuda - * Rename lane_detector to vision_lane_detect - * Modify package.xml in lidar-related packages - * Remove unnecessary dependencies in lidar_detector and lidar_tracker - * Modify computing.yaml for dpm_ttic - * Modify dpm_ttic launch file - * Remove/Add dependencies to trafficlight_recognizer - * Update data folder in dpm_ttic - * Modified CMake and package file in dpm_ttic. - * Remove src dir in imm_ukf_pda_track - * removed unnecessary comments - * rename lidar_tracker - * Modify pf_lidar_track's cmake file - * Refactor code - * Rename from euclidean_lidar_tracker to lidar_euclidean_track - * Rename from kf_contour_track to lidar_kf_contour_track - * Rename from kf_lidar_track to lidar_kf_track, but need some modification in euclidean cluster(Cluster.h) - * Rename from pf_lidar_tarck to lidar_pf_track - * Rename range_fusion - * Rename obj_reproj - * Rename road_wizard to trafficlight_recognizer - * Rename euclidean_cluster to lidar_euclidean_cluster_detect - * Rename svm_lidar_detect to lidar_svm_detect - * Rename kf_lidar_track to lidar_kf_track - * Change version 1.6.3 to 1.7.0 in pacakge.xml - * Modify CMake so that extrenal header would be loaded - * Remove obj_reproj from cv_tracker - * Add interface.yaml - * create common directory - * Add lidar_imm_ukf_pda_track - * create vision_detector and moved cv - * Modify interface.yaml and package.xml - * remove dpm_ocv - * moved directory - * Delete unnecessary launch file - * Delete rcnn related file and code - * separated dummy_track from cv_tracker - * separated klt_track from cv_tracker - * Fix a cmake - * Remove unnecessary dependency of lidar_euclidean_cluster_detect package - * Rename image_segmenter to vision_segment_enet_detect - * Remove unnecessary dependency of lidar_svm_detect package - * separated kf_track and fix a some compiling issue - * move viewers - * merge ndt_localizer and icp_localizer, and rename to lidar_localizer - * Remove unnecessary dependency of lidar_euclidean_track - * moved image lib - * add launch - * lib move under lidar_tracker - * Rename dpm_ttic to vision_dpm_ttic_detect - * rename yolo3detector to vision_yolo3_detect - * Modify cmake and package.xml in vision_dpm_ttic_detect - * moved sourcefiles into nodes dir - * moved sourcefiles into nodes dir - * Move cv_tracker/data folder and delete cv_tracker/model folder - * fix a package file and cmake - * Rename yolo2 -> vision_yolo2_detect - * fix a package file and cmake - * Fix package name of launch file - * Rename ssd to vision_ssd_detect - * fixed cmake and package for decerese dependencies - * remove top packages dir for detection - * fixed cmake for cuda - * Rename lane_detector to vision_lane_detect - * Modify package.xml in lidar-related packages - * Remove unnecessary dependencies in lidar_detector and lidar_tracker - * Modify computing.yaml for dpm_ttic - * Modify dpm_ttic launch file - * Remove/Add dependencies to trafficlight_recognizer - * Update data folder in dpm_ttic - * Modified CMake and package file in dpm_ttic. - * Remove src dir in imm_ukf_pda_track - * Fix bug for not starting run time manager - * Remove invalid dependency -* Contributors: Kenji Funaoka, Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- - -1.6.1 (2018-01-20) ------------------- - -1.6.0 (2017-12-11) ------------------- - -1.5.1 (2017-09-25) ------------------- - -1.5.0 (2017-09-21) ------------------- - -1.4.0 (2017-08-04) ------------------- - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt deleted file mode 100644 index 76e42ee7e40..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/CMakeLists.txt +++ /dev/null @@ -1,56 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(lidar_svm_detect) - - -find_package(autoware_build_flags REQUIRED) - -find_package(autoware_msgs REQUIRED) -find_package(catkin REQUIRED COMPONENTS - roscpp - sensor_msgs - tf - jsk_recognition_msgs - jsk_rviz_plugins - ) - -find_package(OpenCV REQUIRED) - -set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") - -catkin_package( - CATKIN_DEPENDS - roscpp - sensor_msgs - autoware_msgs - tf - jsk_recognition_msgs - jsk_rviz_plugins - ) - -include_directories( - ${catkin_INCLUDE_DIRS} - ${autoware_msgs_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ) -link_directories(${OpenCV_LIBRARY_DIRS}) - -#SVM Detect -add_executable(lidar_svm_detect - nodes/lidar_svm_detect/lidar_svm_detect.cpp) -#add_library(svm SHARED nodes/svm_lidar_detect/libsvm/svm.cpp) -target_link_libraries(lidar_svm_detect PRIVATE - ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - # svm - ${OpenCV_LIBRARIES} - ) - -#target_include_directories(svm_lidar_detect PRIVATE nodes/svm_lidar_detect/libsvm) -add_dependencies(lidar_svm_detect ${catkin_EXPORTED_TARGETS}) - -install(TARGETS - lidar_svm_detect - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/interface.yaml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/interface.yaml deleted file mode 100644 index 3af782cd14c..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/interface.yaml +++ /dev/null @@ -1,3 +0,0 @@ -- name: lidar_svm_detect - publish: [/cloud_clusters_class] - subscribe: [/cloud_clusters] diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/launch/lidar_svm_detect.launch b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/launch/lidar_svm_detect.launch deleted file mode 100644 index fe6f9d13e94..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/launch/lidar_svm_detect.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/nodes/lidar_svm_detect/lidar_svm_detect.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/nodes/lidar_svm_detect/lidar_svm_detect.cpp deleted file mode 100644 index 91f2fafaa6a..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/nodes/lidar_svm_detect/lidar_svm_detect.cpp +++ /dev/null @@ -1,118 +0,0 @@ -/* - * svm_detect.cpp - * - * Created on: Nov 3, 2016 - * Author: ne0 - */ - -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include - -#include - -#include -#include - -#include -#include - -#if (CV_MAJOR_VERSION != 3) -#include -#endif - -class SvmDetect { -public: - SvmDetect(); - ~SvmDetect(); - void Run(); - -private: - ros::NodeHandle node_handle_; - ros::Subscriber cloud_clusters_sub_; - ros::Publisher cloud_clusters_pub_; - ros::Publisher text_pictogram_pub_; - - std::string model_file_path_; - - FILE *model_file_handle_; - - void CloudClustersCallback( - const autoware_msgs::CloudClusterArray::Ptr &in_cloud_cluster_array_ptr); - void ClassifyFpfhDescriptor(const std::vector &in_fpfh_descriptor, - double &out_label, - std::vector &out_scores, - double &out_sum_scores); - - void CloseModel(); -}; - -void SvmDetect::CloseModel() { fclose(model_file_handle_); } - -SvmDetect::~SvmDetect() {} - -SvmDetect::SvmDetect() : node_handle_("~") {} - -void SvmDetect::Run() { - ros::NodeHandle private_node_handle("~"); - std::string clusters_node_name, - out_clusters_topic_name = "/cloud_clusters_class", - out_pictograms_topic_name = "/pictogram_clusters_class"; - - private_node_handle.param("svm_model_file_path", - model_file_path_, "models/svm.model"); - ROS_INFO("svm_model_file_path: %s", model_file_path_.c_str()); - private_node_handle.param("clusters_node_name", - clusters_node_name, "/cloud_clusters"); - ROS_INFO("clusters_node_name: %s", clusters_node_name.c_str()); - - cloud_clusters_sub_ = node_handle_.subscribe( - clusters_node_name, 10, &SvmDetect::CloudClustersCallback, this); - cloud_clusters_pub_ = - node_handle_.advertise( - out_clusters_topic_name, 10); - ROS_INFO("output clusters topic: %s", out_clusters_topic_name.c_str()); - - /*text_pictogram_pub_ = - node_handle_.advertise(out_pictograms_topic_name, - 10); ROS_INFO("output pictograms topic: %s", - out_pictograms_topic_name.c_str()); - - model_ptr_ = LoadSvmModel(model_file_path_); - - if(model_ptr_ == NULL) - { - ROS_INFO("SvmDetect. Cannot perform classification. Invalid model - file."); - } - else - { - ROS_INFO("SvmDetect. Ready, waiting for clusters..."); - }*/ - ros::spin(); -} - -void SvmDetect::CloudClustersCallback( - const autoware_msgs::CloudClusterArray::Ptr &in_cloud_cluster_array_ptr) { - cloud_clusters_pub_.publish(*in_cloud_cluster_array_ptr); - return; -} - -int main(int argc, char **argv) { - ros::init(argc, argv, "svm_lidar_detect"); - - SvmDetect node; - - node.Run(); - - return 0; -} diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/package.xml deleted file mode 100644 index e581fb5ac46..00000000000 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_svm_detect/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - lidar_svm_detect - 1.9.1 - The lidar_svm_detect package - - amc - BSD - - catkin - autoware_build_flags - - roscpp - sensor_msgs - autoware_msgs - tf - jsk_recognition_msgs - jsk_rviz_plugins - - roscpp - sensor_msgs - autoware_msgs - tf - jsk_recognition_msgs - jsk_rviz_plugins - - -