Classification code is in src/classifier/src/online_frame_preds.py
cpp wrappers located in src/classifier/src/cpp_wrappers need to be compiled like in KPConv original repo
To use online classifications, we need two different containers. One running the simulation of th docker_ros_melodic image and oine running the Deep prediction on the docker_ros_noetic image. To do this we use the double_docker.sh script:
cd /EXP_ROOT_PATH/MyhalSimulator-docker/
./double_docker.sh -c "./master.sh -OPTIONS"The noetic docker will be detrached and you will see the output of the melodic docker. For example, a common call is:
./double_docker.sh -c "./master.sh -fve -m 2 -t A_tour -p Sc1_params"
You can change parameters in the launch file: src/classifier/launch/online_frame_preds.launch