scancontext.py

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import cslam.lidar_pr.scancontext_utils as sc_utils
 
class ScanContext:
    """
    Scan Context descriptor for point clouds
    From: https://github.com/irapkaist/scancontext
    """
    def __init__(self, params, node):
        self.nodenode = node
        self.paramsparams = params
        self.shapeshape = [20,60] # Same as in ScanContext paper
        self.max_lengthmax_length = 80 # Same as in ScanContext paper
 
    def compute_embedding(self, keyframe):
        desc = sc_utils.ptcloud2sc(keyframe, self.shapeshape, self.max_lengthmax_length)
        return desc.reshape(-1)