pypatchworkpp 1.0.4__tar.gz

pypatchworkpp-1.0.4/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16...3.26)
+project(patchworkpp_python_wrapper LANGUAGES CXX)
+
+# Set build type
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Parameters used in `patchworkpp` subdirectory.
+# Thus, link should be `patchworkpp::ground_seg_cores`
+# See https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/CMakeLists.txt#L21
+set(PARENT_PROJECT_NAME patchworkpp)
+set(TARGET_NAME ground_seg_cores)
+
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
+
+# See our `pyproject.toml` file. We use `scikit_build_core`, which turns on `SKBUILD`
+if (DEFINED SKBUILD)
+    message(STATUS "Building with Scikit-Build")
+endif ()
+
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/../cpp/)
+  add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cpp ${CMAKE_CURRENT_BINARY_DIR}/patchworkpp_cpp)
+else()
+  cmake_minimum_required(VERSION 3.18)
+  message(STATUS "Performing out-of-tree build, fetching Patchwork++ v${CMAKE_PROJECT_VERSION} Release from Github")
+  include(FetchContent)
+  FetchContent_Declare(
+    ext_ground_seg_cores PREFIX ${PARENT_PROJECT_NAME}
+    URL https://github.com/url-kaist/patchwork-plusplus/archive/refs/tags/v${CMAKE_PROJECT_VERSION}.tar.gz SOURCE_SUBDIR
+        cpp/patchworkpp)
+  FetchContent_MakeAvailable(ext_ground_seg_cores)
+endif()
+
+pybind11_add_module(pypatchworkpp patchworkpp/pybinding.cpp)
+
+target_link_libraries(pypatchworkpp PUBLIC ${PARENT_PROJECT_NAME}::${TARGET_NAME})
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+  target_compile_options(pypatchworkpp PUBLIC -fsized-deallocation)
+endif()
+
+install(TARGETS pypatchworkpp DESTINATION .)

pypatchworkpp-1.0.4/PKG-INFO

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+Metadata-Version: 2.1
+Name: pypatchworkpp
+Version: 1.0.4
+Summary: ground segmentation
+Requires-Python: >=3.8
+Requires-Dist: numpy>=1.23
+Requires-Dist: open3d-cpu>=0.17; extra == "demo"
+Provides-Extra: demo

pypatchworkpp-1.0.4/README.md

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+<div align="center">
+    <h1>Patchwork++</h1>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/patchworkpp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-Humble-blue" /></a>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
+    <a href="https://ieeexplore.ieee.org/document/9981561"><img src="https://img.shields.io/badge/DOI-10.1109/IROS47612.2022.9981561-004088.svg"/>
+    <br />
+    <br />
+    <a href=https://www.youtube.com/watch?v=fogCM159GRk>Video</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/README.md###Python">Install</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros">ROS2</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://www.youtube.com/watch?v=fogCM159GRk>Paper</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://github.com/url-kaist/patchwork-plusplus/issues>Contact Us</a>
+  <br />
+  <br />
+  <p align="center"><img src=../pictures/patchwork++.gif alt="animated" /></p>
+
+  [Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
+</div>
+
+[arXivlink]: https://arxiv.org/abs/2207.11919
+[patchworklink]: https://github.com/LimHyungTae/patchwork
+
+---
+
+# Patchwork++ in Python
+
+## :runner: To run the demo codes
+> There are some example codes for your convenience!
+> Please try using Patchwork++ to segment ground points in a 3D point cloud :smiley:
+
+* Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
+```commandline
+python python/examples/demo_visualize.py
+```
+
+* Example 2. Run patchwork++ with sequential point cloud inputs 
+```commandline
+python python/examples/demo_sequential.py
+```
+
+### Demo Result
+If you execute Patchwork++ with given demo codes well, you can get the following result!
+
+It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)
+
+![Open3D Visualization of "data/000000.bin"](../pictures/demo_000000.png)

pypatchworkpp-1.0.4/examples/demo_sequential.py

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+import os
+import open3d as o3d
+import numpy as np
+import pypatchworkpp
+
+cur_dir = os.path.dirname(os.path.abspath(__file__))
+data_dir = os.path.join(cur_dir, '../../data/')
+
+
+def read_bin(bin_path):
+    scan = np.fromfile(bin_path, dtype=np.float32)
+    scan = scan.reshape((-1, 4))
+
+    return scan
+
+if __name__ == "__main__":
+
+    # Patchwork++ initialization
+    params = pypatchworkpp.Parameters()
+    params.verbose = True
+
+    PatchworkPLUSPLUS = pypatchworkpp.patchworkpp(params)
+
+    for file in sorted(os.listdir(data_dir)):
+
+        # Load point cloud
+        pointcloud = read_bin(data_dir+file)
+
+        # Estimate Ground
+        PatchworkPLUSPLUS.estimateGround(pointcloud)
+
+        # Get Ground and Nonground
+        ground      = PatchworkPLUSPLUS.getGround()
+        nonground   = PatchworkPLUSPLUS.getNonground()
+        time_taken  = PatchworkPLUSPLUS.getTimeTaken()
+
+        ground_idx      = PatchworkPLUSPLUS.getGroundIndices()
+        nonground_idx   = PatchworkPLUSPLUS.getNongroundIndices()
+
+        # Get centers and normals for patches
+        centers     = PatchworkPLUSPLUS.getCenters()
+        normals     = PatchworkPLUSPLUS.getNormals()
+
+        print("Origianl Points  #: ", pointcloud.shape[0])
+        print("Ground Points    #: ", ground.shape[0])
+        print("Nonground Points #: ", nonground.shape[0])
+        print("Time Taken : ", time_taken / 1000000, "(sec)")
+        print("Press ... \n")
+        print("\t H  : help")
+        print("\t N  : visualize the surface normals")
+        print("\tESC : close the Open3D window")
+        
+        vis = o3d.visualization.VisualizerWithKeyCallback()
+        vis.create_window(width = 600, height = 400)
+
+        mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
+
+        ground_o3d = o3d.geometry.PointCloud()
+        ground_o3d.points = o3d.utility.Vector3dVector(ground)
+        ground_o3d.colors = o3d.utility.Vector3dVector(
+            np.array([[0.0, 1.0, 0.0] for _ in range(ground.shape[0])], dtype=float) # RGB
+        )
+
+        nonground_o3d = o3d.geometry.PointCloud()
+        nonground_o3d.points = o3d.utility.Vector3dVector(nonground)
+        nonground_o3d.colors = o3d.utility.Vector3dVector(
+            np.array([[1.0, 0.0, 0.0] for _ in range(nonground.shape[0])], dtype=float) #RGB
+        )
+
+        centers_o3d = o3d.geometry.PointCloud()
+        centers_o3d.points = o3d.utility.Vector3dVector(centers)
+        centers_o3d.normals = o3d.utility.Vector3dVector(normals)
+        centers_o3d.colors = o3d.utility.Vector3dVector(
+            np.array([[1.0, 1.0, 0.0] for _ in range(centers.shape[0])], dtype=float) #RGB
+        )
+
+        vis.add_geometry(mesh)
+        vis.add_geometry(ground_o3d)
+        vis.add_geometry(nonground_o3d)
+        vis.add_geometry(centers_o3d)
+
+        vis.run()
+        vis.destroy_window()

pypatchworkpp-1.0.4/examples/demo_visualize.py

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+import os
+import open3d as o3d
+import numpy as np
+import pypatchworkpp
+
+cur_dir = os.path.dirname(os.path.abspath(__file__))
+input_cloud_filepath = os.path.join(cur_dir, '../../data/000000.bin')
+
+
+def read_bin(bin_path):
+    scan = np.fromfile(bin_path, dtype=np.float32)
+    scan = scan.reshape((-1, 4))
+
+    return scan
+
+if __name__ == "__main__":
+
+    # Patchwork++ initialization
+    params = pypatchworkpp.Parameters()
+    params.verbose = True
+
+    PatchworkPLUSPLUS = pypatchworkpp.patchworkpp(params)
+
+    # Load point cloud
+    pointcloud = read_bin(input_cloud_filepath)
+
+    # Estimate Ground
+    PatchworkPLUSPLUS.estimateGround(pointcloud)
+
+    # Get Ground and Nonground
+    ground      = PatchworkPLUSPLUS.getGround()
+    nonground   = PatchworkPLUSPLUS.getNonground()
+    time_taken  = PatchworkPLUSPLUS.getTimeTaken()
+
+    ground_idx      = PatchworkPLUSPLUS.getGroundIndices()
+    nonground_idx   = PatchworkPLUSPLUS.getNongroundIndices()
+
+    # Get centers and normals for patches
+    centers     = PatchworkPLUSPLUS.getCenters()
+    normals     = PatchworkPLUSPLUS.getNormals()
+
+    print("Origianl Points  #: ", pointcloud.shape[0])
+    print("Ground Points    #: ", ground.shape[0])
+    print("Nonground Points #: ", nonground.shape[0])
+    print("Time Taken : ", time_taken / 1000000, "(sec)")
+    print("Press ... \n")
+    print("\t H  : help")
+    print("\t N  : visualize the surface normals")
+    print("\tESC : close the Open3D window")
+
+    # Visualize
+    vis = o3d.visualization.VisualizerWithKeyCallback()
+    vis.create_window(width = 600, height = 400)
+
+    mesh = o3d.geometry.TriangleMesh.create_coordinate_frame()
+
+    ground_o3d = o3d.geometry.PointCloud()
+    ground_o3d.points = o3d.utility.Vector3dVector(ground)
+    ground_o3d.colors = o3d.utility.Vector3dVector(
+        np.array([[0.0, 1.0, 0.0] for _ in range(ground.shape[0])], dtype=float) # RGB
+    )
+
+    nonground_o3d = o3d.geometry.PointCloud()
+    nonground_o3d.points = o3d.utility.Vector3dVector(nonground)
+    nonground_o3d.colors = o3d.utility.Vector3dVector(
+        np.array([[1.0, 0.0, 0.0] for _ in range(nonground.shape[0])], dtype=float) #RGB
+    )
+
+    centers_o3d = o3d.geometry.PointCloud()
+    centers_o3d.points = o3d.utility.Vector3dVector(centers)
+    centers_o3d.normals = o3d.utility.Vector3dVector(normals)
+    centers_o3d.colors = o3d.utility.Vector3dVector(
+        np.array([[1.0, 1.0, 0.0] for _ in range(centers.shape[0])], dtype=float) #RGB
+    )
+
+    vis.add_geometry(mesh)
+    vis.add_geometry(ground_o3d)
+    vis.add_geometry(nonground_o3d)
+    vis.add_geometry(centers_o3d)
+
+    vis.run()
+    vis.destroy_window()

pypatchworkpp-1.0.4/patchworkpp/pybinding.cpp

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+#include <pybind11/eigen.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+#include "patchwork/patchworkpp.h"
+
+namespace py = pybind11;
+
+PYBIND11_MODULE(pypatchworkpp, m) {
+
+    m.doc() = "Python Patchwork++";
+    m.attr("__version__") = "0.0.1";
+
+    py::class_<patchwork::Params>(m, "Parameters")
+        .def(py::init<>())
+        .def_readwrite("sensor_height", &patchwork::Params::sensor_height)
+        .def_readwrite("verbose",       &patchwork::Params::verbose)
+        .def_readwrite("enable_RNR",    &patchwork::Params::enable_RNR)
+        .def_readwrite("enable_RVPF",   &patchwork::Params::enable_RVPF)
+        .def_readwrite("enable_TGR",    &patchwork::Params::enable_TGR)
+        .def_readwrite("num_iter",      &patchwork::Params::num_iter)
+        .def_readwrite("num_lpr",       &patchwork::Params::num_lpr)
+        .def_readwrite("num_min_pts",   &patchwork::Params::num_min_pts)
+        .def_readwrite("num_zones",     &patchwork::Params::num_zones)
+        .def_readwrite("num_rings_of_interest",     &patchwork::Params::num_rings_of_interest)
+        .def_readwrite("RNR_ver_angle_thr", &patchwork::Params::RNR_ver_angle_thr)
+        .def_readwrite("RNR_intensity_thr", &patchwork::Params::RNR_intensity_thr)
+        .def_readwrite("sensor_height",     &patchwork::Params::sensor_height)
+        .def_readwrite("th_seeds",      &patchwork::Params::th_seeds)
+        .def_readwrite("th_dist",       &patchwork::Params::th_dist)
+        .def_readwrite("th_seeds_v",    &patchwork::Params::th_seeds_v)
+        .def_readwrite("th_dist_v",     &patchwork::Params::th_dist_v)
+        .def_readwrite("max_range",     &patchwork::Params::max_range)
+        .def_readwrite("min_range",     &patchwork::Params::min_range)
+        .def_readwrite("uprightness_thr", &patchwork::Params::uprightness_thr)
+        .def_readwrite("adaptive_seed_selection_margin", &patchwork::Params::adaptive_seed_selection_margin)
+        .def_readwrite("intensity_thr", &patchwork::Params::intensity_thr)
+        .def_readwrite("num_sectors_each_zone", &patchwork::Params::num_sectors_each_zone)
+        .def_readwrite("num_rings_each_zone", &patchwork::Params::num_rings_each_zone)
+        .def_readwrite("max_flatness_storage", &patchwork::Params::max_flatness_storage)
+        .def_readwrite("max_elevation_storage", &patchwork::Params::max_elevation_storage)
+        .def_readwrite("elevation_thr", &patchwork::Params::elevation_thr)
+        .def_readwrite("flatness_thr", &patchwork::Params::flatness_thr);
+
+    py::class_<patchwork::PatchWorkpp>(m, "patchworkpp")
+        .def(py::init<patchwork::Params>())
+        .def("getHeight",       &patchwork::PatchWorkpp::getHeight)
+        .def("getTimeTaken",    &patchwork::PatchWorkpp::getTimeTaken)
+        .def("getGround",       &patchwork::PatchWorkpp::getGround)
+        .def("getNonground",    &patchwork::PatchWorkpp::getNonground)
+        .def("getCenters",      &patchwork::PatchWorkpp::getCenters)
+        .def("getGroundIndices", 	&patchwork::PatchWorkpp::getGroundIndices)
+        .def("getNongroundIndices", &patchwork::PatchWorkpp::getNongroundIndices)
+        .def("getNormals",      &patchwork::PatchWorkpp::getNormals)        
+        .def("estimateGround",  &patchwork::PatchWorkpp::estimateGround);
+        // .def_readwrite("sensor_height_", &PatchWorkpp::sensor_height_);
+}

pypatchworkpp-1.0.4/pyproject.toml

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+[build-system]
+requires = ["scikit_build_core", "pybind11"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "pypatchworkpp"
+version = "1.0.4"
+requires-python = ">=3.8"
+description = "ground segmentation"
+dependencies = [
+	"numpy>=1.23"
+]
+
+[project.optional-dependencies]
+demo = [
+	"open3d-cpu>=0.17"
+]
+
+[tool.scikit-build]
+cmake.args = ["-DINCLUDE_PYTHON_WRAPPER=true"]
+