/scancontext-pybind

LiDAR place recognition. For fast python support.

Primary LanguageC++

scancontext-pybind

News

  • Currently (Apr. 2022), not a set of full features are made yet. For checking the features currently supported, see wrapper.cpp.

Purpose

Build

  • Dependency: eigen, nanoflann, and pybind11 (for details, see CMakeLists.txt)
    • ps. this KCP repo kindly explains how to install them.
  • for the build, follow these lines, 
     $ mkdir build
 $ cd build
 $ cmake ..
 $ make
  • NOTE: You also need to add path before the use. 
     $  export PYTHONPATH=$PYTHONPATH:{YOUR_PATH}/build/python
    • If you use docker image, you can add the above path addition command as a default. See /root/.bashrc.

Use examples

  • For the hands-on exploration of the supported features, for example (you need numpy and open3d), 
     $ python3 examples/test_make_desciptor.py
 $ python3 examples/test_compare_scd.py
 $ # to be added ...

Docker support

  • see docker/docker_run.sh. Modify the REPOSITORY_PATH with your own path.
    • For the docker-based test tutorial, see this video (TBA)

Application: PyICP-SLAM2

  • TBA ...

Cite

  @ARTICLE { gskim-2021-tro,
      AUTHOR = { Giseop Kim and Sunwook Choi and Ayoung Kim },
      TITLE = { Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments },
      JOURNAL = { IEEE Transactions on Robotics },
      YEAR = { 2021 }
  }

  @INPROCEEDINGS { gkim-2018-iros,
    author = {Kim, Giseop and Kim, Ayoung},
    title = { Scan Context: Egocentric Spatial Descriptor for Place Recognition within {3D} Point Cloud Map },
    booktitle = { Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems },
    year = { 2018 },
    month = { Oct. },
    address = { Madrid }
  }

Ack

  • Thanks to the author of KCP. The pybind wrapper src and the directory structures were borrowed from KCP.