Added development container for replicability

.clang-format

@@ -0,0 +1,7 @@
+BasedOnStyle: LLVM
+IndentWidth: 4
+TabWidth: 4
+ColumnLimit: 120
+UseTab: Never
+PointerAlignment: Left
+AlwaysBreakTemplateDeclarations: Yes

.devcontainer/devcontainer.json

@@ -0,0 +1,121 @@
+{
+    "name": "GroundGrid",
+    "privileged": true,
+    "build": {
+        "dockerfile": "../Dockerfile",
+        "args": {
+            "USER_UID": "1000",
+            "USER_GID": "1000"
+        }
+    },
+    "containerEnv": {
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "0"
+    },
+    "runArgs": [
+        "--net",
+        "host",
+        "--privileged",
+        "--env=DISPLAY",
+        "--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw"
+    ],
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "remoteUser": "devuser",
+    "workspaceFolder": "/home/devuser/workspace/groundgrid",
+    "mounts": [
+        {
+            "source": "${env:HOME}/workspace",
+            "target": "/home/devuser/workspace",
+            "type": "bind"
+        }
+    ],
+    "postCreateCommand": "bash -c 'source /opt/ros/noetic/setup.bash'",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-iot.vscode-ros",
+                "ms-python.black-formatter",
+                "ms-python.vscode-pylance",
+                "ms-python.python",
+                "ms-python.debugpy",
+                "xaver.clang-format",
+                "eamodio.gitlens",
+                "twxs.cmake",
+                "ClemensPeters.format-json",
+                "DavidAnson.vscode-markdownlint",
+                "redhat.vscode-xml",
+                "redhat.vscode-yaml",
+                "mechatroner.rainbow-csv",
+                "llvm-vs-code-extensions.vscode-clangd"
+            ],
+            "settings": {
+                "terminal.integrated.defaultProfile.linux": "bash",
+                "terminal.integrated.env.linux": {
+                    "CMAKE_PREFIX_PATH": "/opt/ros/noetic:$CMAKE_PREFIX_PATH",
+                    "LD_LIBRARY_PATH": "/opt/ros/noetic/lib:$LD_LIBRARY_PATH"
+                },
+                "search.exclude": {
+                    "**/build": true,
+                    "**/install": true,
+                    "**/log": true
+                },
+                "ros.rosSetupScript": "/opt/ros/noetic/setup.bash",
+                "python.autoComplete.extraPaths": [
+                    "/opt/ros/noetic/lib/python3/dist-packages/"
+                ],
+                "python.analysis.extraPaths": [
+                    "/opt/ros/noetic/lib/python3/dist-packages/"
+                ],
+                "clangd.path": "/usr/bin/clangd",
+                "clangd.checkUpdates": false,
+                "C_Cpp.clang_format_style": "file",
+                "C_Cpp.default.cppStandard": "c++17",
+                "C_Cpp.default.cStandard": "c11",
+                "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
+                "C_Cpp.default.browse.path": [
+                    "${workspaceFolder}"
+                ],
+                "C_Cpp.autocomplete": "disabled",
+                "C_Cpp.intelliSenseEngine": "disabled",
+                "C_Cpp.errorSquiggles": "disabled",
+                "C_Cpp.formatting": "disabled",
+                "C_Cpp.intelliSenseEngineFallback": "disabled",
+                "C_Cpp.configurationWarnings": "disabled",
+                "C_Cpp.vcpkg.enabled": false,
+                "C_Cpp.inlayHints.parameterNames.enabled": false,
+                "C_Cpp.autoAddFileAssociations": false,
+                "C_Cpp.codeAnalysis.runAutomatically": false,
+                "C_Cpp.default.enableConfigurationSquiggles": false,
+                "[c]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "xaver.clang-format"
+                },
+                "[cpp]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "xaver.clang-format"
+                },
+                "[python]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "ms-python.black-formatter"
+                },
+                "[yaml]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "redhat.vscode-yaml"
+                },
+                "[json]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "ClemensPeters.format-json"
+                },
+                "[xml]": {
+                    "editor.formatOnSave": true,
+                    "editor.defaultFormatter": "redhat.vscode-xml"
+                },
+                "files.trimTrailingWhitespace": true,
+                "files.insertFinalNewline": true,
+                "terminal.integrated.scrollback": 10000
+            }
+        }
+    }
+}

.gitignore

@@ -0,0 +1,99 @@
+# Core dumps
+core
+core.*
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# Build directories
+build/
+Build/
+bin/
+Bin/
+lib/
+Lib/
+lib64/
+Lib64/
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+Makefile
+*.cmake
+*.ninja
+.ninja_deps
+.ninja_log
+*.vcxproj
+*.vcxproj.filters
+*.vcxproj.user
+*.DS_Store
+*.ipynb_checkpoints
+
+# Python build artifacts
+*.pyc
+*.pyo
+*.pyd
+__pycache__/
+*.egg-info/
+dist/
+build/
+*.log
+
+# Clang-format index
+.cache
+
+# ROS
+.catkin_tools/
+devel/
+logs/
+install/
+*.launch~
+*.pyc
+
+# Ignore files generated by IDEs and editors
+.vscode/
+.idea/
+*.swp
+*.bak
+*~
+*.tmp
+*.temp
+*.log
+*.log.*
+
+# Ignore test results
+test-output/
+test-results/
+
+# Ignore dependency directories
+node_modules/
+vendor/

Dockerfile

@@ -0,0 +1,68 @@
+# Use an official ROS1 environment as a parent image
+FROM ros:noetic-robot
+
+# Set the default shell to bash
+SHELL ["/bin/bash", "-c"]
+
+# Set a non-interactive shell to avoid stuck prompts during build
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Update package lists and install only necessary packages
+RUN apt-get update && apt-get install -y \
+  build-essential \
+  cmake \
+  git \
+  sudo \
+  lsb-release \
+  gnupg2 \
+  net-tools \
+  clang-format \
+  clangd \
+  gdb \
+  libpcl-dev \
+  libopencv-dev \
+  python3-pip \
+  python3-catkin-tools \
+  python3-rospkg \
+  python3-rospy \
+  ros-noetic-tf2-ros \
+  ros-noetic-sensor-msgs \
+  ros-noetic-catkin \
+  ros-noetic-pcl-ros \
+  ros-noetic-grid-map \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set Python 3 as the default Python version
+RUN update-alternatives --install /usr/bin/python python /usr/bin/python3 1
+
+# Copy requirements.txt and install Python packages using pip
+COPY requirements.txt /tmp/requirements.txt
+RUN pip3 install -r /tmp/requirements.txt
+
+# Add a user for the development environment
+ARG USERNAME=devuser
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create user with specified home directory
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd --uid $USER_UID --gid $USER_GID --create-home --home-dir /home/$USERNAME $USERNAME \
+  && echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME \
+  && chmod 0440 /etc/sudoers.d/$USERNAME
+
+# Ensure .bashrc exists and source it in the entrypoint script
+RUN touch /home/$USERNAME/.bashrc
+
+# Set the working directory and change ownership
+WORKDIR /home/$USERNAME/workspace
+RUN chown -R $USERNAME:$USERNAME /home/$USERNAME/workspace
+
+# Setup ROS1 environment in the bashrc for interactive bash shells
+RUN echo "source /opt/ros/noetic/setup.bash" >> /home/$USERNAME/.bashrc
+
+# Switch to the non-root user
+USER $USERNAME
+
+# Command to run on container start
+CMD ["/bin/bash"]

README.md

@@ -1,10 +1,13 @@
 # Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation"
+
 This repository contains the source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation" published in the IEEE Robotics and Automation Letters ([DOI: 10.1109/LRA.2023.3333233](https://doi.org/10.1109/lra.2023.3333233)).
+
 <p align="center">
   <img src="/res/img/teaser.gif" alt="Ground segmentation results"/>
 </p>
 
-# Dependencies
+## Dependencies
+
 - ROS Noetic Ninjemys
 - catkin
 - roscpp
@@ -26,14 +29,50 @@ This repository contains the source code for the article "GroundGrid: LiDAR Poin
 - cv_bridge
 - pcl_ros
 
-# Build
+## Development Container
+
+To be able to use Nvidia GPU graphics within Docker follow container toolkit installation steps <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#installing-the-nvidia-container-toolkit>.
+
+Build Docker image:
+
+```bash
+docker build -t groundgrid:latest .
+```
+
+Run Docker container:
+
+```bash
+docker run --net host --privileged --env="DISPLAY=$DISPLAY" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" -v "${HOME}/workspace:/home/devuser/workspace" -it groundgrid:latest /bin/bash
+```
+
+## Build
+
+Install required dependencies
+
+```bash
+pip3 install -r requirements.txt
 ```
+
+Build:
+
+```bash
+cd /home/devuser/workspace/groundgrid/src
+ln -s .. groundgrid
 catkin build -DCMAKE_BUILD_TYPE=Release groundgrid
 ```
 
-# Launch
-## Playback
+## Clean
+
+```bash
+catkin clean
 ```
+
+## Launch
+
+### Playback
+
+```bash
+source devel/setup.bash
 roslaunch groundgrid KITTIPlayback.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0
 ```
 
@@ -42,14 +81,15 @@ The launch file opens a RViz window which displays the segmentation results:
   <img src="/res/img/rviz.png" alt="SemanticKitti playback Rviz window"/>
 </p>
 
-
 ## Ground Segmentation Evaluation
-```
+
+```bash
 roslaunch groundgrid KITTIEvaluate.launch directory:=/path/to/the/SemanticKITTI/dataset sequence:=0
 ```
 
 This launch file evaluates the ground segmentation performance of GroundGrid and displays the results every 500 processed clouds.
 The final results are displayed upon receiving Ctrl+C in the terminal:
+
 ```
 Stats
 Received 4540 point clouds. KITTI sequence 00.
@@ -90,4 +130,3 @@ F1			97.35%		8607231		2761917
 Accuracy		97.24%		400339747	411708895
 IoUg			94.84%
 ```
-