add loop threshold check in detectLoopClosureID

CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.11)
 project(Scancontext VERSION 1.0.0)
 
 set(CMAKE_CXX_STANDARD 14)
+
 if(NOT CMAKE_BUILD_TYPE)
   # Options: Debug, Release, MinSizeRel, RelWithDebInfo
   message(STATUS "No build type selected, default to Release")
@@ -10,36 +11,35 @@ endif()
 
 include(FetchContent)
 
-###############################################################################
-# Options
-###############################################################################
+set(PYTHONVERSION "3.10")
 
+# ##############################################################################
+# Options
+# ##############################################################################
 option(SC_BUILD_PYTHON_BINDING "Build Python bindings for Scancontext" ON)
 
-###############################################################################
+# ##############################################################################
 # Dependencies
-###############################################################################
-
+# ##############################################################################
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
 FetchContent_Declare(nanoflann
   GIT_REPOSITORY https://github.com/jlblancoc/nanoflann
-  GIT_TAG        v1.4.2
+  GIT_TAG v1.4.2
 )
 FetchContent_MakeAvailable(nanoflann)
 
-if(SC_BUILD_PYTHON_BINDING)  
+if(SC_BUILD_PYTHON_BINDING)
   FetchContent_Declare(pybind11
     GIT_REPOSITORY https://github.com/pybind/pybind11
-    GIT_TAG        v2.9.2
+    GIT_TAG v2.9.2
   )
   FetchContent_MakeAvailable(pybind11)
 endif()
 
-###############################################################################
+# ##############################################################################
 # Targets
-###############################################################################
-
+# ##############################################################################
 add_subdirectory(scancontext)
 
 if(SC_BUILD_PYTHON_BINDING)

README.md

@@ -19,6 +19,13 @@
    $ cmake ..
    $ make
   ```
+- CMake doesn’t detect the right Python version
+The CMake-based build system will try to automatically detect the installed version of Python and link against that. When this fails, or when there are multiple versions of Python and it finds the wrong one, delete CMakeCache.txt and then add -DPYTHON_EXECUTABLE=$(which python) to your CMake configure line. (Replace $(which python) with a path to python if your prefer.)
+
+You can alternatively try -DPYBIND11_FINDPYTHON=ON, which will activate the new CMake FindPython support instead of pybind11’s custom search. Requires CMake 3.12+, and 3.15+ or 3.18.2+ are even better. You can set this in your CMakeLists.txt before adding or finding pybind11, as well.
+
+
+
 - Install the Python package via `pip` with
   ```
   $ cd build

examples/ScanContextManagerCPP.py

@@ -0,0 +1,35 @@
+import pyscancontext as sc
+
+import numpy as np
+np.set_printoptions(precision=4)
+
+
+scm = sc.SCManager()
+
+
+# ScanContextManager using python binding
+
+class ScanContextManagerCPP:
+    def __init__(self, shape=[20,60], num_candidates=10, threshold=0.15): # defualt configs are same as the original paper 
+        self.shape = shape
+        self.num_candidates = num_candidates
+        self.threshold = threshold
+
+        self.max_length = 80 # recommended but other (e.g., 100m) is also ok.
+
+        self.ENOUGH_LARGE = 15000 # capable of up to ENOUGH_LARGE number of nodes 
+        self.ptclouds = [None] * self.ENOUGH_LARGE
+
+        self.curr_node_idx = 0
+
+    def addNode(self, node_idx, ptcloud):
+        scm.add_node(ptcloud)
+        self.curr_node_idx = node_idx
+        self.ptclouds[node_idx] = ptcloud
+
+
+    def getPtcloud(self, node_idx):
+        return self.ptclouds[node_idx]
+
+    def detectLoop(self): 
+        return scm.detect_loop()

python/CMakeLists.txt

@@ -1,5 +1,4 @@
 set(PYPKG_DIR "${CMAKE_CURRENT_BINARY_DIR}/pyscancontext")
-
 pybind11_add_module(pyscancontext wrapper.cpp)
 target_link_libraries(pyscancontext PUBLIC Scancontext::scancontext)
 set_target_properties(pyscancontext PROPERTIES OUTPUT_NAME "pyscancontext")
@@ -15,34 +14,35 @@ configure_file(setup.py.in ${CMAKE_CURRENT_BINARY_DIR}/setup.py)
 
 # Create the Python package -- Note that "." is used to conform to PEP 328
 file(WRITE "${PYPKG_DIR}/__init__.py"
-    "from .pyscancontext import *\n"
-    "from .pyscancontext import __version__\n"
-    "from .pyscancontext import __doc__")
+  "from .pyscancontext import *\n"
+  "from .pyscancontext import __version__\n"
+  "from .pyscancontext import __doc__")
 
 set(DIST "none")
+
 if(UNIX AND NOT APPLE)
-    execute_process(COMMAND bash -c "lsb_release -cs" OUTPUT_VARIABLE UBUNTU_DIST)
-    string(STRIP "${UBUNTU_DIST}" UBUNTU_DIST)
-    set(DIST "${UBUNTU_DIST}")
+  execute_process(COMMAND bash -c "lsb_release -cs" OUTPUT_VARIABLE UBUNTU_DIST)
+  string(STRIP "${UBUNTU_DIST}" UBUNTU_DIST)
+  set(DIST "${UBUNTU_DIST}")
 elseif(APPLE)
-    # TODO: not very specific...
-    set(DIST "macos")
+  # TODO: not very specific...
+  set(DIST "macos")
 elseif(WIN32)
-    # TODO: not very specific...
-    set(DIST "win10")
+  # TODO: not very specific...
+  set(DIST "win10")
 endif()
 
 set(PKGSTR pyscancontext-py3-${DIST}-${PROJECT_VERSION})
 add_custom_target(pypkg
-    DEPENDS pyscancontext
-    COMMAND ${CMAKE_COMMAND} -E make_directory ${PKGSTR}
-    COMMAND ${CMAKE_COMMAND} -E copy setup.py ${PKGSTR}/
-    COMMAND ${CMAKE_COMMAND} -E copy_directory ${PYPKG_DIR} ${PKGSTR}/pyscancontext
-    COMMAND ${CMAKE_COMMAND} -E tar zcvf ${PKGSTR}.tar.gz ${PKGSTR}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  DEPENDS pyscancontext
+  COMMAND ${CMAKE_COMMAND} -E make_directory ${PKGSTR}
+  COMMAND ${CMAKE_COMMAND} -E copy setup.py ${PKGSTR}/
+  COMMAND ${CMAKE_COMMAND} -E copy_directory ${PYPKG_DIR} ${PKGSTR}/pyscancontext
+  COMMAND ${CMAKE_COMMAND} -E tar zcvf ${PKGSTR}.tar.gz ${PKGSTR}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
 
 add_custom_target(pip-install
-    DEPENDS pypkg
-    COMMAND ${PYTHON_EXECUTABLE} -m pip install .
-    WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${PKGSTR}
+  DEPENDS pypkg
+  COMMAND ${PYTHON_EXECUTABLE} -m pip install .
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/${PKGSTR}
 )