Function main

nodes/ros_kitti.cpp:180–213

}

int main(int argc, char **argv) {
  ros::init(argc, argv, "Benchmark");
  ros::NodeHandle nh;
  condParam<string>(&nh, "/algorithm", algorithm, "patchwork", "");
  condParam<string>(&nh, "/seq", seq, "00", "");
  condParam<bool>(&nh, "/is_kitti", is_kitti, true, "");

  PatchworkGroundSeg.reset(new PatchWork<PointType>(&nh));

  LabeledCloudPublisher =
      nh.advertise<sensor_msgs::PointCloud2>("/benchmark/labeled_cloud", 100, true);

  CloudPublisher = nh.advertise<sensor_msgs::PointCloud2>("/benchmark/cloud", 100, true);
  TPPublisher = nh.advertise<sensor_msgs::PointCloud2>("/benchmark/TP", 100, true);
  FPPublisher = nh.advertise<sensor_msgs::PointCloud2>("/benchmark/FP", 100, true);
  FNPublisher = nh.advertise<sensor_msgs::PointCloud2>("/benchmark/FN", 100, true);
  GroundPublisher = nh.advertise<sensor_msgs::PointCloud2>("/patchwork/ground", 100, false);
  NonGroundPublisher = nh.advertise<sensor_msgs::PointCloud2>("/patchwork/non_ground", 100, false);

  PrecisionPublisher = nh.advertise<visualization_msgs::Marker>("/precision", 1, true);
  RecallPublisher = nh.advertise<visualization_msgs::Marker>("/recall", 1, true);

  ros::Subscriber NodeSubscriber =
      nh.subscribe<sensor_msgs::PointCloud2>("/patchwork/cloud", 5000, callbackNode);

  if (is_kitti) {
    std::cout << "\033[1;33mKITTI mode is activated. If not, please check "
                 "`is_kitti` parameter\033[0m"
              << std::endl;
  }
  ros::spin();

  return 0;
}