Fix Python wrapper linking & update nanoflann/pybind11 versions

CMakeLists.txt

@@ -24,14 +24,14 @@ 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        v1.7.1
 )
 FetchContent_MakeAvailable(nanoflann)
 
 if(SC_BUILD_PYTHON_BINDING)  
   FetchContent_Declare(pybind11
     GIT_REPOSITORY https://github.com/pybind/pybind11
-    GIT_TAG        v2.9.2
+    GIT_TAG        v2.13.6
   )
   FetchContent_MakeAvailable(pybind11)
 endif()

examples/test_compare_scd.py

@@ -22,11 +22,10 @@ def read_bin(bin_path):
 
 def bin2scd(filepath, voxel_size=0.5):
     xyz = read_bin(filepath)
-    print( f" The poitn cloud {filepath} is loaded." )
     pcd = o3d.geometry.PointCloud()
     pcd.points = o3d.utility.Vector3dVector(xyz)
     pcd_down = pcd.voxel_down_sample(voxel_size=voxel_size)
-    xyz_down = np.asarray(pcd_down.points)
+    xyz_down = np.asarray(pcd_down.points, dtype=np.float64, order='C')
     scd = scm.make_scancontext(xyz_down)
     return scd 
 

python/CMakeLists.txt

@@ -1,9 +1,18 @@
 set(PYPKG_DIR "${CMAKE_CURRENT_BINARY_DIR}/pyscancontext")
 
 pybind11_add_module(pyscancontext wrapper.cpp)
-target_link_libraries(pyscancontext PUBLIC Scancontext::scancontext)
+target_link_libraries(pyscancontext PRIVATE Scancontext::scancontext)
+
+set_target_properties(pyscancontext PROPERTIES
+  BUILD_RPATH "${CMAKE_BINARY_DIR}/scancontext"
+  INSTALL_RPATH "$ORIGIN/../../scancontext"
+)
+
+
 set_target_properties(pyscancontext PROPERTIES OUTPUT_NAME "pyscancontext")
 set_target_properties(pyscancontext PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${PYPKG_DIR}")
+target_link_libraries(pyscancontext PUBLIC Eigen3::Eigen)
+target_include_directories(pyscancontext PRIVATE ${EIGEN3_INCLUDE_DIR})
 
 # https://github.com/pybind/pybind11/issues/1818
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")

scancontext/CMakeLists.txt

@@ -2,16 +2,20 @@ add_library(scancontext SHARED
   include/scancontext/Scancontext.cpp
 )
 
+set_target_properties(scancontext PROPERTIES
+                      VERSION ${PROJECT_VERSION})
+
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
 target_include_directories(scancontext PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
 )
 
-set_target_properties(scancontext PROPERTIES VERSION ${PROJECT_VERSION})
 target_compile_definitions(scancontext PUBLIC PROJECT_VERSION="${PROJECT_VERSION}")
 
-target_link_libraries(scancontext 
+target_link_libraries(scancontext PUBLIC
   Eigen3::Eigen
   nanoflann::nanoflann
 )

scancontext/include/scancontext/KDTreeVectorOfVectorsAdaptor.h

@@ -81,7 +81,7 @@ struct KDTreeVectorOfVectorsAdaptor
 	{
 		nanoflann::KNNResultSet<num_t,IndexType> resultSet(num_closest);
 		resultSet.init(out_indices, out_distances_sq);
-		index->findNeighbors(resultSet, query_point, nanoflann::SearchParams());
+		index->findNeighbors(resultSet, query_point, nanoflann::SearchParameters());
 	}
 
 	/** @name Interface expected by KDTreeSingleIndexAdaptor

scancontext/include/scancontext/Scancontext.cpp

@@ -134,8 +134,8 @@ std::pair<double, int> SCManager::distanceBtnScanContext( MatrixXd &_sc1, Matrix
 
 
 // MatrixXd SCManager::makeScancontext( pcl::PointCloud<SCPointType> & _scan_down )
-MatrixXd SCManager::makeScancontext( Eigen::MatrixX3d & _scan_down )
-{
+MatrixXd SCManager::makeScancontext( const Eigen::MatrixX3d & _scan_down )
+{   
     const int NO_POINT = -1000;
     MatrixXd desc = NO_POINT * MatrixXd::Ones(PC_NUM_RING, PC_NUM_SECTOR);
 
@@ -264,7 +264,7 @@ std::tuple<int, double, double> SCManager::detectLoopClosureID ( void )
 
     nanoflann::KNNResultSet<float> knnsearch_result( NUM_CANDIDATES_FROM_TREE );
     knnsearch_result.init( &candidate_indexes[0], &out_dists_sqr[0] );
-    polarcontext_tree_->index->findNeighbors( knnsearch_result, &curr_key[0] /* query */, nanoflann::SearchParams(10) ); 
+    polarcontext_tree_->index->findNeighbors( knnsearch_result, &curr_key[0] /* query */, nanoflann::SearchParameters(10) ); 
 
     // step 2: pairwise distance (find optimal columnwise best-fit using cosine distance)
     for ( int candidate_iter_idx = 0; candidate_iter_idx < NUM_CANDIDATES_FROM_TREE; candidate_iter_idx++ )

scancontext/include/scancontext/Scancontext.h

@@ -15,6 +15,14 @@
 
 #include "KDTreeVectorOfVectorsAdaptor.h"
 
+#pragma once
+
+#if defined _WIN32 || defined __CYGWIN__
+  #define SC_EXPORT __declspec(dllexport)
+#else
+  #define SC_EXPORT __attribute__ ((visibility ("default")))
+#endif
+
 using namespace Eigen;
 using namespace nanoflann;
 
@@ -39,12 +47,12 @@ float xy2theta( const float & _x, const float & _y );
 MatrixXd circshift( MatrixXd &_mat, int _num_shift );
 std::vector<float> eig2stdvec( MatrixXd _eigmat );
 
-class SCManager
+class SC_EXPORT SCManager
 {
 public: 
     SCManager( ) = default; // reserving data space (of std::vector) could be considered. but the descriptor is lightweight so don't care.
 
-    Eigen::MatrixXd makeScancontext( Eigen::MatrixX3d & _scan_down );
+    Eigen::MatrixXd makeScancontext( const Eigen::MatrixX3d & _scan_down );
     Eigen::MatrixXd makeRingkeyFromScancontext( Eigen::MatrixXd &_desc );
     Eigen::MatrixXd makeSectorkeyFromScancontext( Eigen::MatrixXd &_desc );