misc update (not important)

Author: LimHyungTae

cpp/examples/3rdparty/download_datasets.cmake

@@ -5,6 +5,7 @@ set(ZIP_DIR "${CMAKE_BINARY_DIR}/zip_files")
 
 set(DROPBOX_FILES
     "https://www.dropbox.com/scl/fi/1lsz6bxwan0sytj87ea9h/Vel16.zip?rlkey=g4jpze2j6iu6hk9ahq0m6t7o3&st=vrfpk4nv&dl=1"
+    "https://www.dropbox.com/scl/fi/weqfi572gbi5z654d56ai/Vel64.zip?rlkey=l9upmgfjx7nhkbgl9du7igrfu&st=4q9gyous&dl=1"
     "https://www.dropbox.com/scl/fi/lnsbaqmbgz0qi1r8ocesd/HeLiPR-KAIST05.zip?rlkey=50jyhl180qpmf1j5jn9ru37ru&st=q0kay7o3&dl=1"
     "https://www.dropbox.com/scl/fi/c6c1jxrld17ywj7x2ok1q/VBR-Collosseo.zip?rlkey=b1sk0xvnntqy8kyw1apob37ob&st=5imrvvwo&dl=1"
     "https://www.dropbox.com/scl/fi/73l59cj5ypfvjrkrc23qx/KITTI00-to-KITTI360.zip?rlkey=pqukxxgpxaq1pugo6dhzq8xa4&st=yns7uolj&dl=1"
@@ -14,6 +15,7 @@ set(DROPBOX_FILES
 
 set(DOWNLOADED_FILES
     "${ZIP_DIR}/Vel16.zip"
+    "${ZIP_DIR}/Vel64.zip"
     "${ZIP_DIR}/HeLiPR-KAIST05.zip"
     "${ZIP_DIR}/VBR-Collosseo.zip"
     "${ZIP_DIR}/KITTI00-to-KITTI360.zip"

cpp/examples/README.md

@@ -64,16 +64,25 @@ cmake .. -DCMAKE_BUILD_TYPE=Release && make -j 48
 <details>
   <summary><strong>Click to see our detailed example codes</a></strong></summary>
 
-### Example B-1. Perform registration two point clouds from different viewpoints of Velodyne 16 at MIT campus
+### Example B-0. Perform registration two point clouds from different viewpoints of Velodyne 16 at MIT campus
 
 ```
-./run_kiss_matcher data/Vel16/src.pcd data/Vel16/tgt.pcd 0.3
+./run_kiss_matcher data/Vel16/src.pcd data/Vel16/tgt.pcd 0.2
 ```
 
 **Result**
 
 ![Image](https://github.com/user-attachments/assets/c7d57fd1-24e7-458e-84a8-9b3578cc12dd)
 
+### Example B-1. Perform registration two point clouds from different viewpoints of Velodyne 64 in KITTI dataset
+
+```
+./run_kiss_matcher data/Vel64/kitti_000540.pcd data/Vel64/kitti_001319.pcd 0.3
+```
+
+**Result**
+
+![Image](https://github.com/user-attachments/assets/2adfa6d8-d3cb-4bd3-9283-26926f171806)
 
 
 ### Example B-2. Perform registration KITTI07 (Orange) and KITTI00 (Cyan) map clouds

python/README.md

@@ -15,13 +15,8 @@
 
 ---
 
-
 # Installation
 
-TBU
-
 ```
-python3 -m pip install --upgrade scikit_build_core setuptools wheel
-
 pip3 install --upgrade pip setuptools wheel scikit-build-core ninja cmake build
 ```

python/misc/bin2pcd.py

@@ -0,0 +1,30 @@
+import numpy as np
+import struct
+import sys
+import open3d as o3d
+
+
+def bin_to_pcd(binFileName):
+    size_float = 4
+    list_pcd = []
+    with open(binFileName, "rb") as f:
+        byte = f.read(size_float * 4)
+        while byte:
+            x, y, z, intensity = struct.unpack("ffff", byte)
+            list_pcd.append([x, y, z])
+            byte = f.read(size_float * 4)
+    np_pcd = np.asarray(list_pcd)
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = o3d.utility.Vector3dVector(np_pcd)
+    return pcd
+
+
+def main(binFileName, pcdFileName):
+    pcd = bin_to_pcd(binFileName)
+    o3d.io.write_point_cloud(pcdFileName, pcd)
+
+
+if __name__ == "__main__":
+    a = sys.argv[1]
+    b = sys.argv[2]
+    main(a, b)

python/pyproject.toml

@@ -36,22 +36,14 @@ classifiers = [
 dependencies = [
     "numpy",
     "plyfile",
-    "pydantic>=2",
-    "pydantic-settings",
-    "pyquaternion",
-    "rich",
     "tqdm",
     "typer[all]>=0.6.0",
 ]
 
 [project.optional-dependencies]
 all = [
     "open3d>=0.13",
-    "polyscope>=2.2.1",
-    "ouster-sdk>=0.11",
     "pyntcloud",
-    "PyYAML",
-    "trimesh",
 ]
 test = [
     "pytest",