Add TerrainSimplification and TerrainSimplificationRos packages

plane_seg/CMakeLists.txt

@@ -40,9 +40,9 @@ target_link_libraries(plane_seg ${catkin_LIBRARIES})
 
 
 # standalone lcm-based block fitter
-set(APP_NAME block_fitter)
-add_executable(${APP_NAME} src/block-fitter.cpp)
-target_link_libraries(${APP_NAME} boost_system ${catkin_LIBRARIES})
+#set(APP_NAME block_fitter)
+#add_executable(${APP_NAME} src/block-fitter.cpp)
+#target_link_libraries(${APP_NAME} boost_system ${catkin_LIBRARIES})
 
 
 # test program
@@ -65,3 +65,4 @@ install(TARGETS plane_seg
 
 # Mark header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+

terrain_simplification/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(terrain_simplification)
+
+add_compile_options(-std=c++11)
+set(DEFAULT_BUILD "Release")
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to '${DEFAULT_BUILD}' as none was specified.")
+  set(CMAKE_BUILD_TYPE ${DEFAULT_BUILD} CACHE STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug"
+    "Release"
+    "MinSizeRel"
+    "RelWithDebInfo")
+endif()
+
+add_definitions(-DMELO_FUNCTION_PRINTS)
+
+find_package(catkin REQUIRED COMPONENTS
+  grid_map_core
+  grid_map_filters
+  grid_map_cv
+  )
+
+find_package(OpenCV REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+catkin_package(
+  INCLUDE_DIRS include
+     LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS
+  grid_map_core
+  grid_map_filters
+  grid_map_cv
+  )
+
+###########
+## Build ##
+###########
+add_library(${PROJECT_NAME}
+  src/terrain_simplification.cpp
+  )
+
+include_directories(
+  include
+  ${OpenCV_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  )
+
+add_dependencies(${PROJECT_NAME} 
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${OpenCV_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS})
+
+
+target_link_libraries(${PROJECT_NAME}
+  ${OpenCV_LIBS}
+  ${catkin_LIBRARIES}
+  )
+
+#############
+## Install ##
+#############
+# Mark library for installation
+install(
+  TARGETS
+    ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+# Mark header files for installation
+install(
+  DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.hpp"
+  )

terrain_simplification/README.md

@@ -0,0 +1,7 @@
+![A gif demonstrating the use of terrain simplification as a base-motion-constraint, shown at 5x speed.](https://github.com/ori-drs/plane_seg/blob/add-terrain-simplification/terrain_simplification/terrain-simplification_base-motion-constraint_5x-speed.gif)
+
+![A gif demonstrating the use of terrain simplification in simulation.](https://github.com/ori-drs/plane_seg/blob/add-terrain-simplification/terrain_simplification/terrain-simplification_base-motion-constraint_simulation.gif)
+
+![An image demonstrating the use of terrain simplification to compute first- and second-order partial derivatives of any image.](https://github.com/ori-drs/plane_seg/blob/add-terrain-simplification/terrain_simplification/terrain-simplification_derivatives.png)
+
+![A traversability map computed using FilterChain.](https://github.com/ori-drs/plane_seg/blob/add-terrain-simplification/terrain_simplification/terrain-simplification_traversability.png)