IVoxPythonWrapper

This repository contains the source code for the Python wrapper of the IVox, which is a library for the faster-lio

1. Dependencies

sudo apt-get install libeigen3-dev
sudo apt-get install libpcl-dev

If you are using Windows, you can install Eigen and PCL library by vcpkg.

vcpkg install x64-windows:pcl

For svar dependency and usage, please refer to svar for more details.

2.Build

2.1 WINDOWS

mkdir build & cd build
cmake.exe --no-warn-unused-cli -G "Visual Studio 17 2022" -T host=x64 -A x64 -DCMAKE_BUILD_TYPE=Release  -DCMAKE_TOOLCHAIN_FILE=PATH/TO/vcpkg.cmake  ..
make

2.2 Linux

mkdir build & cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

3. Usage

import numpy as np
import svar
ivox3d = svar.load("ivox3d")
# resolution, inv_resolution, NearbyType, capacity
options = ivox3d.IVoxOption(0.2, 10.0, 1, 5e6)
# init a ivox
ivox = ivox3d.IVox(options)

XYZ = np.random.rand(300000*3)
# add points
ivox.AddPoints(XYZ.tolist())
# query nearest point
ret = ivox.GetClosestPoint([1.0, 0.0, 0.0])
print(ret)
# query nearest N point with max distance
ret = ivox.GetClosestPoints([1.0, 0.0, 0.0], 5, 0.5 )
print(ret)