Skip to content

pybind ground align api separately #59

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
saurabh1002 merged 2 commits into from
Feb 4, 2025
Merged

pybind ground align api separately #59

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f0ab0a9
pybind ground align api separately
saurabh1002 Feb 4, 2025
761e36b
Merge branch 'main' into gupta/expose_ground_align_to_python_api
saurabh1002 Feb 4, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions python/map_closures/map_closures.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,3 +55,10 @@ def get_closures(self, query_idx: int, local_map: np.ndarray) -> List[ClosureCan

def get_density_map_from_id(self, map_id: int) -> np.ndarray:
return self._pipeline._getDensityMapFromId(map_id)


def align_map_to_local_ground(pointcloud, resolution):
return map_closures_pybind._align_map_to_local_ground(
map_closures_pybind._Vector3dVector(pointcloud),
resolution,
)
3 changes: 3 additions & 0 deletions python/map_closures/pybind/map_closures_pybind.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@
#include <tuple>
#include <vector>

#include "map_closures/GroundAlign.hpp"
#include "map_closures/MapClosures.hpp"
#include "stl_vector_eigen.h"

Expand Down Expand Up @@ -80,5 +81,7 @@ PYBIND11_MODULE(map_closures_pybind, m) {
.def("_GetBestClosure", &MapClosures::GetBestClosure, "query_id"_a, "local_map"_a)
.def("_GetTopKClosures", &MapClosures::GetTopKClosures, "query_id"_a, "local_map"_a, "k"_a)
.def("_GetClosures", &MapClosures::GetClosures, "query_id"_a, "local_map"_a);

m.def("_align_map_to_local_ground", &AlignToLocalGround, "pointcloud"_a, "resolution"_a);
}
} // namespace map_closures
Loading