SuMa++ | Generates Semantic Maps using Three-Dimensional Laser Range Scans

SuMa++: Efficient LiDAR-based Semantic SLAM

This repository contains the implementation of SuMa++, which generates semantic maps only using three-dimensional laser range scans.

Developed by Xieyuanli Chen and Jens Behley.

SuMa++ is built upon SuMa and RangeNet++. For more details, we refer to the original project websites SuMa and RangeNet++.

An example of using SuMa++:

Publication

If you use our implementation in your academic work, please cite the corresponding paper:

@inproceedings{chen2019iros, 
        author = {X. Chen and A. Milioto and E. Palazzolo and P. Giguère and J. Behley and C. Stachniss},
        title  = {{SuMa++: Efficient LiDAR-based Semantic SLAM}},
        booktitle = {Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
          pages = {4530--4537},
        year = {2019},
        url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2019iros.pdf}
}

Dependencies

catkin
Qt5 >= 5.2.1
OpenGL >= 4.0
libEigen >= 3.2
gtsam >= 4.0 (tested with 4.0.0-alpha2)

In Ubuntu 16.04: Installing all dependencies should be accomplished by

sudo apt-get install build-essential cmake libgtest-dev libeigen3-dev libboost-all-dev qtbase5-dev libglew-dev libqt5libqgtk2 catkin

Additionally, make sure you have catkin-tools and the fetch verb installed:

sudo apt install python-pip
sudo pip install catkin_tools catkin_tools_fetch empy

Build

rangenet_lib

To use SuMa++, you need to first build the rangenet_lib with the TensorRT and C++ interface. For more details about building and using rangenet_lib you could find in rangenet_lib.

SuMa++

Clone the repository in the src directory of the same catkin workspace where you built the rangenet_lib:

git clone https://github.com/PRBonn/semantic_suma.git

Download the additional dependencies (or clone glow into your catkin workspace src yourself):

catkin deps fetch

For the first setup of your workspace containing this project, you need:

catkin build --save-config -i --cmake-args -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=430 -DENABLE_NVIDIA_EXT=YES

Where you have to set OPENGL_VERSION to the supported OpenGL core profile version of your system, which you can query as follows:

$ glxinfo | grep "version"
server glx version string: 1.4
client glx version string: 1.4
GLX version: 1.4
OpenGL core profile version string: 4.3.0 NVIDIA 367.44
OpenGL core profile shading language version string: 4.30 NVIDIA [...]
OpenGL version string: 4.5.0 NVIDIA 367.44
OpenGL shading language version string: 4.50 NVIDIA

Here the line OpenGL core profile version string: 4.3.0 NVIDIA 367.44 is important and therefore you should use -DOPENGL_VERSION = 430. If you are unsure you can also leave it on the default version 330, which should be supported by all OpenGL-capable devices.

If you have a NVIDIA device, like a Geforce or Quadro graphics card, you should also activate the NVIDIA extensions using -DENABLE_NVIDIA_EXT=YES for info about the current GPU memory usage of the program.

After this setup steps, you can build with catkin build, since the configuration has been saved to your current Catkin profile (therefore, --save-config was needed).

Now the project root directory (e.g. ~/catkin_ws/src/semantic_suma) should contain a bin directory containing the visualizer.

How to run

Important Notice

Before running SuMa++, you need to first build the rangenet_lib and download the pretrained model.
You need to specify the model path in the configuration file in the config/ folder.
For the first time using, rangenet_lib will take several minutes to build a .trt model for SuMa++.
SuMa++ now can only work with KITTI dataset, since the semantic segmentation may not generalize well in other environments.
To use SuMa++ with your own dataset, you may finetune or retrain the semantic segmentation network.

All binaries are copied to the bin directory of the source folder of the project. Thus,

run visualizer in the bin directory by ./visualizer,
open a Velodyne directory from the KITTI Visual Odometry Benchmark and select a ".bin" file,
start the processing of the scans via the "play button" in the GUI.

More Related Work

OverlapNet - Loop Closing for 3D LiDAR-based SLAM

This repo contains the code for our RSS2020 paper: OverlapNet - Loop Closing for 3D LiDAR-based SLAM.

OverlapNet is a modified Siamese Network that predicts the overlap and relative yaw angle of a pair of range images generated by 3D LiDAR scans, which can be used for place recognition and loop closing.

Overlap-based LiDAR Global Localization

This repo contains the code for our IROS2020 paper: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

It uses the OverlapNet to train an observation model for Monte Carlo Localization and achieves global localization with 3D LiDAR scans.

Frequently Asked Questions

License

This project is free software made available under the MIT License. For details see the LICENSE file.

Download Details:

Author: PRBonn
Download Link: Download The Source Code
Official Website: https://github.com/PRBonn/semantic_suma
License: MIT License

#c #objective-c

What is GEEK

Buddha Community

Chloe Butler

1667425440

Pdf2gerb: Perl Script Converts PDF Files to Gerber format

pdf2gerb

Perl script converts PDF files to Gerber format

Pdf2Gerb generates Gerber 274X photoplotting and Excellon drill files from PDFs of a PCB. Up to three PDFs are used: the top copper layer, the bottom copper layer (for 2-sided PCBs), and an optional silk screen layer. The PDFs can be created directly from any PDF drawing software, or a PDF print driver can be used to capture the Print output if the drawing software does not directly support output to PDF.

The general workflow is as follows:

Design the PCB using your favorite CAD or drawing software.
Print the top and bottom copper and top silk screen layers to a PDF file.
Run Pdf2Gerb on the PDFs to create Gerber and Excellon files.
Use a Gerber viewer to double-check the output against the original PCB design.
Make adjustments as needed.
Submit the files to a PCB manufacturer.

Please note that Pdf2Gerb does NOT perform DRC (Design Rule Checks), as these will vary according to individual PCB manufacturer conventions and capabilities. Also note that Pdf2Gerb is not perfect, so the output files must always be checked before submitting them. As of version 1.6, Pdf2Gerb supports most PCB elements, such as round and square pads, round holes, traces, SMD pads, ground planes, no-fill areas, and panelization. However, because it interprets the graphical output of a Print function, there are limitations in what it can recognize (or there may be bugs).

See docs/Pdf2Gerb.pdf for install/setup, config, usage, and other info.

pdf2gerb_cfg.pm

#Pdf2Gerb config settings:
#Put this file in same folder/directory as pdf2gerb.pl itself (global settings),
#or copy to another folder/directory with PDFs if you want PCB-specific settings.
#There is only one user of this file, so we don't need a custom package or namespace.
#NOTE: all constants defined in here will be added to main namespace.
#package pdf2gerb_cfg;

use strict; #trap undef vars (easier debug)
use warnings; #other useful info (easier debug)


##############################################################################################
#configurable settings:
#change values here instead of in main pfg2gerb.pl file

use constant WANT_COLORS => ($^O !~ m/Win/); #ANSI colors no worky on Windows? this must be set < first DebugPrint() call

#just a little warning; set realistic expectations:
#DebugPrint("${\(CYAN)}Pdf2Gerb.pl ${\(VERSION)}, $^O O/S\n${\(YELLOW)}${\(BOLD)}${\(ITALIC)}This is EXPERIMENTAL software.  \nGerber files MAY CONTAIN ERRORS.  Please CHECK them before fabrication!${\(RESET)}", 0); #if WANT_DEBUG

use constant METRIC => FALSE; #set to TRUE for metric units (only affect final numbers in output files, not internal arithmetic)
use constant APERTURE_LIMIT => 0; #34; #max #apertures to use; generate warnings if too many apertures are used (0 to not check)
use constant DRILL_FMT => '2.4'; #'2.3'; #'2.4' is the default for PCB fab; change to '2.3' for CNC

use constant WANT_DEBUG => 0; #10; #level of debug wanted; higher == more, lower == less, 0 == none
use constant GERBER_DEBUG => 0; #level of debug to include in Gerber file; DON'T USE FOR FABRICATION
use constant WANT_STREAMS => FALSE; #TRUE; #save decompressed streams to files (for debug)
use constant WANT_ALLINPUT => FALSE; #TRUE; #save entire input stream (for debug ONLY)

#DebugPrint(sprintf("${\(CYAN)}DEBUG: stdout %d, gerber %d, want streams? %d, all input? %d, O/S: $^O, Perl: $]${\(RESET)}\n", WANT_DEBUG, GERBER_DEBUG, WANT_STREAMS, WANT_ALLINPUT), 1);
#DebugPrint(sprintf("max int = %d, min int = %d\n", MAXINT, MININT), 1); 

#define standard trace and pad sizes to reduce scaling or PDF rendering errors:
#This avoids weird aperture settings and replaces them with more standardized values.
#(I'm not sure how photoplotters handle strange sizes).
#Fewer choices here gives more accurate mapping in the final Gerber files.
#units are in inches
use constant TOOL_SIZES => #add more as desired
(
#round or square pads (> 0) and drills (< 0):
    .010, -.001,  #tiny pads for SMD; dummy drill size (too small for practical use, but needed so StandardTool will use this entry)
    .031, -.014,  #used for vias
    .041, -.020,  #smallest non-filled plated hole
    .051, -.025,
    .056, -.029,  #useful for IC pins
    .070, -.033,
    .075, -.040,  #heavier leads
#    .090, -.043,  #NOTE: 600 dpi is not high enough resolution to reliably distinguish between .043" and .046", so choose 1 of the 2 here
    .100, -.046,
    .115, -.052,
    .130, -.061,
    .140, -.067,
    .150, -.079,
    .175, -.088,
    .190, -.093,
    .200, -.100,
    .220, -.110,
    .160, -.125,  #useful for mounting holes
#some additional pad sizes without holes (repeat a previous hole size if you just want the pad size):
    .090, -.040,  #want a .090 pad option, but use dummy hole size
    .065, -.040, #.065 x .065 rect pad
    .035, -.040, #.035 x .065 rect pad
#traces:
    .001,  #too thin for real traces; use only for board outlines
    .006,  #minimum real trace width; mainly used for text
    .008,  #mainly used for mid-sized text, not traces
    .010,  #minimum recommended trace width for low-current signals
    .012,
    .015,  #moderate low-voltage current
    .020,  #heavier trace for power, ground (even if a lighter one is adequate)
    .025,
    .030,  #heavy-current traces; be careful with these ones!
    .040,
    .050,
    .060,
    .080,
    .100,
    .120,
);
#Areas larger than the values below will be filled with parallel lines:
#This cuts down on the number of aperture sizes used.
#Set to 0 to always use an aperture or drill, regardless of size.
use constant { MAX_APERTURE => max((TOOL_SIZES)) + .004, MAX_DRILL => -min((TOOL_SIZES)) + .004 }; #max aperture and drill sizes (plus a little tolerance)
#DebugPrint(sprintf("using %d standard tool sizes: %s, max aper %.3f, max drill %.3f\n", scalar((TOOL_SIZES)), join(", ", (TOOL_SIZES)), MAX_APERTURE, MAX_DRILL), 1);

#NOTE: Compare the PDF to the original CAD file to check the accuracy of the PDF rendering and parsing!
#for example, the CAD software I used generated the following circles for holes:
#CAD hole size:   parsed PDF diameter:      error:
#  .014                .016                +.002
#  .020                .02267              +.00267
#  .025                .026                +.001
#  .029                .03167              +.00267
#  .033                .036                +.003
#  .040                .04267              +.00267
#This was usually ~ .002" - .003" too big compared to the hole as displayed in the CAD software.
#To compensate for PDF rendering errors (either during CAD Print function or PDF parsing logic), adjust the values below as needed.
#units are pixels; for example, a value of 2.4 at 600 dpi = .0004 inch, 2 at 600 dpi = .0033"
use constant
{
    HOLE_ADJUST => -0.004 * 600, #-2.6, #holes seemed to be slightly oversized (by .002" - .004"), so shrink them a little
    RNDPAD_ADJUST => -0.003 * 600, #-2, #-2.4, #round pads seemed to be slightly oversized, so shrink them a little
    SQRPAD_ADJUST => +0.001 * 600, #+.5, #square pads are sometimes too small by .00067, so bump them up a little
    RECTPAD_ADJUST => 0, #(pixels) rectangular pads seem to be okay? (not tested much)
    TRACE_ADJUST => 0, #(pixels) traces seemed to be okay?
    REDUCE_TOLERANCE => .001, #(inches) allow this much variation when reducing circles and rects
};

#Also, my CAD's Print function or the PDF print driver I used was a little off for circles, so define some additional adjustment values here:
#Values are added to X/Y coordinates; units are pixels; for example, a value of 1 at 600 dpi would be ~= .002 inch
use constant
{
    CIRCLE_ADJUST_MINX => 0,
    CIRCLE_ADJUST_MINY => -0.001 * 600, #-1, #circles were a little too high, so nudge them a little lower
    CIRCLE_ADJUST_MAXX => +0.001 * 600, #+1, #circles were a little too far to the left, so nudge them a little to the right
    CIRCLE_ADJUST_MAXY => 0,
    SUBST_CIRCLE_CLIPRECT => FALSE, #generate circle and substitute for clip rects (to compensate for the way some CAD software draws circles)
    WANT_CLIPRECT => TRUE, #FALSE, #AI doesn't need clip rect at all? should be on normally?
    RECT_COMPLETION => FALSE, #TRUE, #fill in 4th side of rect when 3 sides found
};

#allow .012 clearance around pads for solder mask:
#This value effectively adjusts pad sizes in the TOOL_SIZES list above (only for solder mask layers).
use constant SOLDER_MARGIN => +.012; #units are inches

#line join/cap styles:
use constant
{
    CAP_NONE => 0, #butt (none); line is exact length
    CAP_ROUND => 1, #round cap/join; line overhangs by a semi-circle at either end
    CAP_SQUARE => 2, #square cap/join; line overhangs by a half square on either end
    CAP_OVERRIDE => FALSE, #cap style overrides drawing logic
};
    
#number of elements in each shape type:
use constant
{
    RECT_SHAPELEN => 6, #x0, y0, x1, y1, count, "rect" (start, end corners)
    LINE_SHAPELEN => 6, #x0, y0, x1, y1, count, "line" (line seg)
    CURVE_SHAPELEN => 10, #xstart, ystart, x0, y0, x1, y1, xend, yend, count, "curve" (bezier 2 points)
    CIRCLE_SHAPELEN => 5, #x, y, 5, count, "circle" (center + radius)
};
#const my %SHAPELEN =
#Readonly my %SHAPELEN =>
our %SHAPELEN =
(
    rect => RECT_SHAPELEN,
    line => LINE_SHAPELEN,
    curve => CURVE_SHAPELEN,
    circle => CIRCLE_SHAPELEN,
);

#panelization:
#This will repeat the entire body the number of times indicated along the X or Y axes (files grow accordingly).
#Display elements that overhang PCB boundary can be squashed or left as-is (typically text or other silk screen markings).
#Set "overhangs" TRUE to allow overhangs, FALSE to truncate them.
#xpad and ypad allow margins to be added around outer edge of panelized PCB.
use constant PANELIZE => {'x' => 1, 'y' => 1, 'xpad' => 0, 'ypad' => 0, 'overhangs' => TRUE}; #number of times to repeat in X and Y directions

# Set this to 1 if you need TurboCAD support.
#$turboCAD = FALSE; #is this still needed as an option?

#CIRCAD pad generation uses an appropriate aperture, then moves it (stroke) "a little" - we use this to find pads and distinguish them from PCB holes. 
use constant PAD_STROKE => 0.3; #0.0005 * 600; #units are pixels
#convert very short traces to pads or holes:
use constant TRACE_MINLEN => .001; #units are inches
#use constant ALWAYS_XY => TRUE; #FALSE; #force XY even if X or Y doesn't change; NOTE: needs to be TRUE for all pads to show in FlatCAM and ViewPlot
use constant REMOVE_POLARITY => FALSE; #TRUE; #set to remove subtractive (negative) polarity; NOTE: must be FALSE for ground planes

#PDF uses "points", each point = 1/72 inch
#combined with a PDF scale factor of .12, this gives 600 dpi resolution (1/72 * .12 = 600 dpi)
use constant INCHES_PER_POINT => 1/72; #0.0138888889; #multiply point-size by this to get inches

# The precision used when computing a bezier curve. Higher numbers are more precise but slower (and generate larger files).
#$bezierPrecision = 100;
use constant BEZIER_PRECISION => 36; #100; #use const; reduced for faster rendering (mainly used for silk screen and thermal pads)

# Ground planes and silk screen or larger copper rectangles or circles are filled line-by-line using this resolution.
use constant FILL_WIDTH => .01; #fill at most 0.01 inch at a time

# The max number of characters to read into memory
use constant MAX_BYTES => 10 * M; #bumped up to 10 MB, use const

use constant DUP_DRILL1 => TRUE; #FALSE; #kludge: ViewPlot doesn't load drill files that are too small so duplicate first tool

my $runtime = time(); #Time::HiRes::gettimeofday(); #measure my execution time

print STDERR "Loaded config settings from '${\(__FILE__)}'.\n";
1; #last value must be truthful to indicate successful load


#############################################################################################
#junk/experiment:

#use Package::Constants;
#use Exporter qw(import); #https://perldoc.perl.org/Exporter.html

#my $caller = "pdf2gerb::";

#sub cfg
#{
#    my $proto = shift;
#    my $class = ref($proto) || $proto;
#    my $settings =
#    {
#        $WANT_DEBUG => 990, #10; #level of debug wanted; higher == more, lower == less, 0 == none
#    };
#    bless($settings, $class);
#    return $settings;
#}

#use constant HELLO => "hi there2"; #"main::HELLO" => "hi there";
#use constant GOODBYE => 14; #"main::GOODBYE" => 12;

#print STDERR "read cfg file\n";

#our @EXPORT_OK = Package::Constants->list(__PACKAGE__); #https://www.perlmonks.org/?node_id=1072691; NOTE: "_OK" skips short/common names

#print STDERR scalar(@EXPORT_OK) . " consts exported:\n";
#foreach(@EXPORT_OK) { print STDERR "$_\n"; }
#my $val = main::thing("xyz");
#print STDERR "caller gave me $val\n";
#foreach my $arg (@ARGV) { print STDERR "arg $arg\n"; }

Download Details:

Author: swannman
Source Code: https://github.com/swannman/pdf2gerb

License: GPL-3.0 license

#perl

dev karmanr

1634323972

Xcode 12 deployment target warnings when use CocoaPods

The Installer is responsible of taking a Podfile and transform it in the Pods libraries. It also integrates the user project so the Pods libraries can be used out of the box.

The Installer is capable of doing incremental updates to an existing Pod installation.

The Installer gets the information that it needs mainly from 3 files:

- Podfile: The specification written by the user that contains
information about targets and Pods.
- Podfile.lock: Contains information about the pods that were previously
installed and in concert with the Podfile provides information about
which specific version of a Pod should be installed. This file is
ignored in update mode.
- Manifest.lock: A file contained in the Pods folder that keeps track of
the pods installed in the local machine. This files is used once the
exact versions of the Pods has been computed to detect if that version
is already installed. This file is not intended to be kept under source
control and is a copy of the Podfile.lock.
The Installer is designed to work in environments where the Podfile folder is under source control and environments where it is not. The rest of the files, like the user project and the workspace are assumed to be under source control.

https://www.npmjs.com/package/official-venom-2-let-there-be-carnage-2021-online-free-full-hd-4k
https://www.npmjs.com/package/venom-2-let-there-be-carnage-2021-online-free-full-hd

Defined Under Namespace
Modules: ProjectCache Classes: Analyzer, BaseInstallHooksContext, InstallationOptions, PodSourceInstaller, PodSourcePreparer, PodfileValidator, PostInstallHooksContext, PostIntegrateHooksContext, PreInstallHooksContext, PreIntegrateHooksContext, SandboxDirCleaner, SandboxHeaderPathsInstaller, SourceProviderHooksContext, TargetUUIDGenerator, UserProjectIntegrator, Xcode

Constant Summary
collapse
MASTER_SPECS_REPO_GIT_URL =
'https://github.com/CocoaPods/Specs.git'.freeze
Installation results
collapse

https://www.npmjs.com/package/official-venom-2-let-there-be-carnage-2021-online-free-full-hd-4k
https://www.npmjs.com/package/venom-2-let-there-be-carnage-2021-online-free-full-hd

#aggregate_targets ⇒ Array<AggregateTarget> readonly
The model representations of an aggregation of pod targets generated for a target definition in the Podfile as result of the analyzer.
#analysis_result ⇒ Analyzer::AnalysisResult readonly
The result of the analysis performed during installation.
#generated_aggregate_targets ⇒ Array<AggregateTarget> readonly
The list of aggregate targets that were generated from the installation.
#generated_pod_targets ⇒ Array<PodTarget> readonly
The list of pod targets that were generated from the installation.
#generated_projects ⇒ Array<Project> readonly
The list of projects generated from the installation.
#installed_specs ⇒ Array<Specification>
The specifications that were installed.
#pod_target_subprojects ⇒ Array<Pod::Project> readonly
The subprojects nested under pods_project.
#pod_targets ⇒ Array<PodTarget> readonly
The model representations of pod targets generated as result of the analyzer.
#pods_project ⇒ Pod::Project readonly
The `Pods/Pods.xcodeproj` project.
#target_installation_results ⇒ Array<Hash{String, TargetInstallationResult}> readonly
The installation results produced by the pods project generator.
Instance Attribute Summary
collapse
#clean_install ⇒ Boolean (also: #clean_install?)
when incremental installation is enabled.
#deployment ⇒ Boolean (also: #deployment?)
Whether installation should verify that there are no Podfile or Lockfile changes.
#has_dependencies ⇒ Boolean (also: #has_dependencies?)
Whether it has dependencies.
#lockfile ⇒ Lockfile readonly
The Lockfile that stores the information about the Pods previously installed on any machine.
#podfile ⇒ Podfile readonly
The Podfile specification that contains the information of the Pods that should be installed.
#repo_update ⇒ Boolean (also: #repo_update?)
Whether the spec repos should be updated.
#sandbox ⇒ Sandbox readonly
The sandbox where the Pods should be installed.
#update ⇒ Hash, ...
Pods that have been requested to be updated or true if all Pods should be updated.
#use_default_plugins ⇒ Boolean (also: #use_default_plugins?)
Whether default plugins should be used during installation.
Hooks
collapse
#development_pod_targets(targets = pod_targets) ⇒ Array<PodTarget>
The targets of the development pods generated by the installation process.
Convenience Methods
collapse
.targets_from_sandbox(sandbox, podfile, lockfile) ⇒ Object
Instance Method Summary
collapse
#analyze_project_cache ⇒ Object
#download_dependencies ⇒ Object
#initialize(sandbox, podfile, lockfile = nil) ⇒ Installer constructor
Initialize a new instance.
#install! ⇒ void
Installs the Pods.
#integrate ⇒ Object
#prepare ⇒ Object
#resolve_dependencies ⇒ Analyzer
The analyzer used to resolve dependencies.
#show_skip_pods_project_generation_message ⇒ Object
#stage_sandbox(sandbox, pod_targets) ⇒ void
Stages the sandbox after analysis.
Methods included from Config::Mixin
#config

Constructor Details
permalink#initialize(sandbox, podfile, lockfile = nil) ⇒ Installer
Initialize a new instance

Parameters:

sandbox (Sandbox) — @see #sandbox
podfile (Podfile) — @see #podfile
lockfile (Lockfile) (defaults to: nil) — @see #lockfile
[View source]
Instance Attribute Details
permalink#aggregate_targets ⇒ Array<AggregateTarget> (readonly)
Returns The model representations of an aggregation of pod targets generated for a target definition in the Podfile as result of the analyzer.

Returns:

(Array<AggregateTarget>) — The model representations of an aggregation of pod targets generated for a target definition in the Podfile as result of the analyzer.
permalink#analysis_result ⇒ Analyzer::AnalysisResult (readonly)
Returns the result of the analysis performed during installation.

Returns:

(Analyzer::AnalysisResult) — the result of the analysis performed during installation
permalink#clean_install ⇒ Boolean
Also known as: clean_install?
when incremental installation is enabled.

Returns:

(Boolean) — Whether installation should ignore the contents of the project cache
permalink#deployment ⇒ Boolean
Also known as: deployment?
Returns Whether installation should verify that there are no Podfile or Lockfile changes. Defaults to false.

Returns:

(Boolean) — Whether installation should verify that there are no Podfile or Lockfile changes. Defaults to false.
permalink#generated_aggregate_targets ⇒ Array<AggregateTarget> (readonly)
Returns The list of aggregate targets that were generated from the installation.

Returns:

(Array<AggregateTarget>) — The list of aggregate targets that were generated from the installation.
permalink#generated_pod_targets ⇒ Array<PodTarget> (readonly)
Returns The list of pod targets that were generated from the installation.

Returns:

(Array<PodTarget>) — The list of pod targets that were generated from the installation.
permalink#generated_projects ⇒ Array<Project> (readonly)
Returns The list of projects generated from the installation.

Returns:

(Array<Project>) — The list of projects generated from the installation.
permalink#has_dependencies ⇒ Boolean
Also known as: has_dependencies?
Returns Whether it has dependencies. Defaults to true.

Returns:

(Boolean) — Whether it has dependencies. Defaults to true.
permalink#installed_specs ⇒ Array<Specification>
Returns The specifications that were installed.

Returns:

(Array<Specification>) — The specifications that were installed.
permalink#lockfile ⇒ Lockfile (readonly)
Returns The Lockfile that stores the information about the Pods previously installed on any machine.

Returns:

(Lockfile) — The Lockfile that stores the information about the Pods previously installed on any machine.
permalink#pod_target_subprojects ⇒ Array<Pod::Project> (readonly)
Returns the subprojects nested under pods_project.

Returns:

(Array<Pod::Project>) — the subprojects nested under pods_project.
permalink#pod_targets ⇒ Array<PodTarget> (readonly)
Returns The model representations of pod targets generated as result of the analyzer.

Returns:

(Array<PodTarget>) — The model representations of pod targets generated as result of the analyzer.
permalink#podfile ⇒ Podfile (readonly)
Returns The Podfile specification that contains the information of the Pods that should be installed.

Returns:

(Podfile) — The Podfile specification that contains the information of the Pods that should be installed.
permalink#pods_project ⇒ Pod::Project (readonly)
Returns the `Pods/Pods.xcodeproj` project.

Returns:

(Pod::Project) — the `Pods/Pods.xcodeproj` project.
permalink#repo_update ⇒ Boolean
Also known as: repo_update?
Returns Whether the spec repos should be updated.

Returns:

(Boolean) — Whether the spec repos should be updated.
permalink#sandbox ⇒ Sandbox (readonly)
Returns The sandbox where the Pods should be installed.

Returns:

(Sandbox) — The sandbox where the Pods should be installed.
permalink#target_installation_results ⇒ Array<Hash{String, TargetInstallationResult}> (readonly)
Returns the installation results produced by the pods project generator.

Returns:

(Array<Hash{String, TargetInstallationResult}>) — the installation results produced by the pods project generator
permalink#update ⇒ Hash, ...
Returns Pods that have been requested to be updated or true if all Pods should be updated. If all Pods should been updated the contents of the Lockfile are not taken into account for deciding what Pods to install.

Returns:

(Hash, Boolean, nil) — Pods that have been requested to be updated or true if all Pods should be updated. If all Pods should been updated the contents of the Lockfile are not taken into account for deciding what Pods to install.
permalink#use_default_plugins ⇒ Boolean
Also known as: use_default_plugins?
Returns Whether default plugins should be used during installation. Defaults to true.

Returns:

(Boolean) — Whether default plugins should be used during installation. Defaults to true.
Class Method Details
permalink.targets_from_sandbox(sandbox, podfile, lockfile) ⇒ Object
Raises:

(Informative)
[View source]
Instance Method Details
permalink#analyze_project_cache ⇒ Object
[View source]
permalink#development_pod_targets(targets = pod_targets) ⇒ Array<PodTarget>
Returns The targets of the development pods generated by the installation process. This can be used as a convenience method for external scripts.

Parameters:

targets (Array<PodTarget>) (defaults to: pod_targets)
Returns:

(Array<PodTarget>) — The targets of the development pods generated by the installation process. This can be used as a convenience method for external scripts.
[View source]
permalink#download_dependencies ⇒ Object
[View source]
permalink#install! ⇒ void
This method returns an undefined value.

Installs the Pods.

The installation process is mostly linear with a few minor complications to keep in mind:

The stored podspecs need to be cleaned before the resolution step otherwise the sandbox might return an old podspec and not download the new one from an external source.

The resolver might trigger the download of Pods from external sources necessary to retrieve their podspec (unless it is instructed not to do it).

[View source]
permalink#integrate ⇒ Object
[View source]
permalink#prepare ⇒ Object
[View source]
permalink#resolve_dependencies ⇒ Analyzer
Returns The analyzer used to resolve dependencies.

Returns:

(Analyzer) — The analyzer used to resolve dependencies
[View source]
permalink#show_skip_pods_project_generation_message ⇒ Object
[View source]
permalink#stage_sandbox(sandbox, pod_targets) ⇒ void
This method returns an undefined value.

Stages the sandbox after analysis.

Parameters:

sandbox (Sandbox) — The sandbox to stage.
pod_targets (Array<PodTarget>) — The list of all pod targets.

Michio JP

1646813540

SuMa++ | Generates Semantic Maps using Three-Dimensional Laser Range Scans

SuMa++: Efficient LiDAR-based Semantic SLAM

This repository contains the implementation of SuMa++, which generates semantic maps only using three-dimensional laser range scans.

Developed by Xieyuanli Chen and Jens Behley.

SuMa++ is built upon SuMa and RangeNet++. For more details, we refer to the original project websites SuMa and RangeNet++.

An example of using SuMa++:

Publication

If you use our implementation in your academic work, please cite the corresponding paper:

@inproceedings{chen2019iros, 
        author = {X. Chen and A. Milioto and E. Palazzolo and P. Giguère and J. Behley and C. Stachniss},
        title  = {{SuMa++: Efficient LiDAR-based Semantic SLAM}},
        booktitle = {Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
          pages = {4530--4537},
        year = {2019},
        url = {https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/chen2019iros.pdf}
}

Dependencies

catkin
Qt5 >= 5.2.1
OpenGL >= 4.0
libEigen >= 3.2
gtsam >= 4.0 (tested with 4.0.0-alpha2)

In Ubuntu 16.04: Installing all dependencies should be accomplished by

sudo apt-get install build-essential cmake libgtest-dev libeigen3-dev libboost-all-dev qtbase5-dev libglew-dev libqt5libqgtk2 catkin

Additionally, make sure you have catkin-tools and the fetch verb installed:

sudo apt install python-pip
sudo pip install catkin_tools catkin_tools_fetch empy

Build

rangenet_lib

To use SuMa++, you need to first build the rangenet_lib with the TensorRT and C++ interface. For more details about building and using rangenet_lib you could find in rangenet_lib.

SuMa++

Clone the repository in the src directory of the same catkin workspace where you built the rangenet_lib:

git clone https://github.com/PRBonn/semantic_suma.git

Download the additional dependencies (or clone glow into your catkin workspace src yourself):

catkin deps fetch

For the first setup of your workspace containing this project, you need:

catkin build --save-config -i --cmake-args -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=430 -DENABLE_NVIDIA_EXT=YES

Where you have to set OPENGL_VERSION to the supported OpenGL core profile version of your system, which you can query as follows:

$ glxinfo | grep "version"
server glx version string: 1.4
client glx version string: 1.4
GLX version: 1.4
OpenGL core profile version string: 4.3.0 NVIDIA 367.44
OpenGL core profile shading language version string: 4.30 NVIDIA [...]
OpenGL version string: 4.5.0 NVIDIA 367.44
OpenGL shading language version string: 4.50 NVIDIA

After this setup steps, you can build with catkin build, since the configuration has been saved to your current Catkin profile (therefore, --save-config was needed).

Now the project root directory (e.g. ~/catkin_ws/src/semantic_suma) should contain a bin directory containing the visualizer.

How to run

Important Notice

Before running SuMa++, you need to first build the rangenet_lib and download the pretrained model.
You need to specify the model path in the configuration file in the config/ folder.
For the first time using, rangenet_lib will take several minutes to build a .trt model for SuMa++.
SuMa++ now can only work with KITTI dataset, since the semantic segmentation may not generalize well in other environments.
To use SuMa++ with your own dataset, you may finetune or retrain the semantic segmentation network.

All binaries are copied to the bin directory of the source folder of the project. Thus,

run visualizer in the bin directory by ./visualizer,
open a Velodyne directory from the KITTI Visual Odometry Benchmark and select a ".bin" file,
start the processing of the scans via the "play button" in the GUI.

More Related Work

OverlapNet - Loop Closing for 3D LiDAR-based SLAM

This repo contains the code for our RSS2020 paper: OverlapNet - Loop Closing for 3D LiDAR-based SLAM.

Overlap-based LiDAR Global Localization

This repo contains the code for our IROS2020 paper: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

It uses the OverlapNet to train an observation model for Monte Carlo Localization and achieves global localization with 3D LiDAR scans.

Frequently Asked Questions

License

This project is free software made available under the MIT License. For details see the LICENSE file.

Download Details:

Author: PRBonn
Download Link: Download The Source Code
Official Website: https://github.com/PRBonn/semantic_suma
License: MIT License

#c #objective-c

Oral Brekke

1684376340

How to Use Of Not Equal To The Operator in Bash

Many types of operators exist in Bash to check the equality or inequality of two strings or numbers. The “-ne” and “!=” operators are used to check the inequality of two values in Bash. The single third brackets ([ ]) are used in the “if” condition when the “!=” operator is used to check the inequality. The double third brackets ([[ ]]) are used in the “if” condition when the “-ne” operator is used to check the inequality. The methods of comparing the string and numeric values using these operators are shown in this tutorial.

Using the “!=” Operator

The “!=” operator can be used to check the inequality between two numeric values or two string values. Two uses of this operator are shown in the following examples.

Example 1: Checking the Inequality Between Numbers
Create a Bash file with the following script that takes a number input and check whether the input value is equal to 10 or not using the “!=” operator. The single third brackets ([ ]) are used in the “if” condition here.

#!/bin/bash
#Take a number
echo -n "Enter a number:"
read number

#Use '!=' operator to check the number value
if [ $number != 10 ]; then
    echo "The number is not equal to 10."
else
    echo "The number is equal to 10."
fi

The script is executed twice in the following output. Twelve (12) is taken as input in the first execution and “The number is not equal to 10” is printed. Ten (10) is taken as input in the second execution and “The number is equal to 10” is printed:

Example 2:
Create a Bash file with the following script that takes two string values and check whether the input values are equal or not using the “!=” operator. The single third brackets ([ ]) are used in the “if” condition here.

#!/bin/bash
#Take a number
echo -n "Enter the first string value: "
read str1
echo -n "Enter the second string value: "
read str2

#Use '!=' operator to check the string values
if [ "$str1" != "$str2" ]; then
    echo "The strings are not equal."
else
    echo "The strings are equal."
fi

The script is executed twice in the following output. The “Hello” and “hello” string values are taken as inputs in the first execution and these values are not equal because the string values are compared case-sensitively. In the next execution, the “hello” and “hello” string values are taken as equal inputs:

Using the “-ne” Operator

The “-ne” operator can be used to check the inequality between two numeric values but not can be used to compare the string values. Two uses of this operator to compare the numeric and string values are shown in the following examples.

Example 1:
Create a Bash file with the following script that takes the username as input. Next, the length of the input value is counted after removing the newline(\n) character. Whether the length of the username is equal to 8 or not is checked using the “-ne” operator. The double third brackets ([[ ]]) are used in the “if” condition here.

#!/bin/bash
#Take the username
echo -n "Enter username: "
read username

#Remove newline from the input value
username=`echo $username | tr -d '\n'`
#Count the total character
len=${#username}

#Use the '-ne' operator to check the number value
if [[ $len -ne 8 ]]; then
    echo "Username must be 8 characters long."
else
    echo "Username: $username"
fi

The script is executed twice in the following output. The “admin” is taken as input in the first execution and the “Username must be 8 characters long” is printed. The “durjoy23” is taken as input in the second execution and the “Username: durjoy23” is printed:

Example 2:
Create a Bash file with the following script that takes the username as input. Next, whether the input value is equal to “admin” or not is checked using the “-ne” operator. The double third brackets ([[ ]]) are used in the “if” condition here. The “-ne” operator does not work to compare two string values.

#!/bin/bash
#Take the username and password
echo -n "Enter username: "
read username

#Remove newline from the input value
username=`echo $username | tr -d '\n'`

#Use '-ne' operator to check the string values
if [[ "$username" -ne "admin" ]]; then
    echo "Invalid user."
else
    echo "Valid user."
fi

The script is executed twice in the following output. The “if” condition is returned true in both executions for the valid and invalid outputs which is a “wrong” output:

Conclusion

The method of comparing two values using the “!=” and “-ne” operators are shown in this tutorial using multiple examples to know the uses of these operators properly.

Original article source at: https://linuxhint.com/

#bash #equal #operator

Robert E. Hilton

1649314944

How to Create an Image Clip Animation with Slider Controls using Only HTML & CSS

In this blog you’ll learn how to create an Image Clip Animation with Slider Controls using only HTML & CSS.

To create an Image Clip Animation with Slider Controls using only HTML & CSS. First, you need to create two Files one HTML File and another one is CSS File.

1: First, create an HTML file with the name of index.html

<!DOCTYPE html>
<html lang="en" dir="ltr">
  <head>
    <meta charset="utf-8">
    <title>Image Clip Animation | Codequs</title>
    <link rel="stylesheet" href="style.css">
  </head>
  <body>
    <div class="wrapper">
      <input type="radio" name="slide" id="one" checked>
      <input type="radio" name="slide" id="two">
      <input type="radio" name="slide" id="three">
      <input type="radio" name="slide" id="four">
      <input type="radio" name="slide" id="five">
      <div class="img img-1">
        <!-- <img src="images/img-1.jpg" alt="">
      </div>
      <div class="img img-2">
        <img src="images/img-2.jpg" alt="">
      </div>
      <div class="img img-3">
        <img src="images/img-3.jpg" alt="">
      </div>
      <div class="img img-4">
        <img src="images/img-4.jpg" alt="">
      </div>
      <div class="img img-5">
        <img src="images/img-5.jpg" alt="">
      </div>
      <div class="sliders">
        <label for="one" class="one"></label>
        <label for="two" class="two"></label>
        <label for="three" class="three"></label>
        <label for="four" class="four"></label>
        <label for="five" class="five"></label>
      </div>
    </div>
  </body>
</html>

2: Second, create a CSS file with the name of style.css

*{
  margin: 0;
  padding: 0;
  box-sizing: border-box;
}
body{
  min-height: 100vh;
  display: flex;
  align-items: center;
  justify-content: center;
  background: -webkit-linear-gradient(136deg, rgb(224,195,252) 0%, rgb(142,197,252) 100%);
}
.wrapper{
  position: relative;
  width: 700px;
  height: 400px;
}
.wrapper .img{
  position: absolute;
  width: 100%;
  height: 100%;
}
.wrapper .img img{
  height: 100%;
  width: 100%;
  object-fit: cover;
  clip-path: circle(0% at 0% 100%);
  transition: all 0.7s;
}
#one:checked ~ .img-1 img{
  clip-path: circle(150% at 0% 100%);
}
#two:checked ~ .img-1 img,
#two:checked ~ .img-2 img{
  clip-path: circle(150% at 0% 100%);
}
#three:checked ~ .img-1 img,
#three:checked ~ .img-2 img,
#three:checked ~ .img-3 img{
  clip-path: circle(150% at 0% 100%);
}
#four:checked ~ .img-1 img,
#four:checked ~ .img-2 img,
#four:checked ~ .img-3 img,
#four:checked ~ .img-4 img{
  clip-path: circle(150% at 0% 100%);
}
#five:checked ~ .img-1 img,
#five:checked ~ .img-2 img,
#five:checked ~ .img-3 img,
#five:checked ~ .img-4 img,
#five:checked ~ .img-5 img{
  clip-path: circle(150% at 0% 100%);
}
.wrapper .sliders{
  position: absolute;
  bottom: 20px;
  left: 50%;
  transform: translateX(-50%);
  z-index: 99;
  display: flex;
}
.wrapper .sliders label{
  border: 2px solid rgb(142,197,252);
  width: 13px;
  height: 13px;
  margin: 0 3px;
  border-radius: 50%;
  cursor: pointer;
  transition: all 0.3s ease;
}
#one:checked ~ .sliders label.one,
#two:checked ~ .sliders label.two,
#three:checked ~ .sliders label.three,
#four:checked ~ .sliders label.four,
#five:checked ~ .sliders label.five{
  width: 35px;
  border-radius: 14px;
  background: rgb(142,197,252);
}
.sliders label:hover{
  background: rgb(142,197,252);
}
input[type="radio"]{
  display: none;
}

Now you’ve successfully created an Image Clip Animation with Sliders using only HTML & CSS.

#html #css