dufomap 1.1.1

DUFOMap Python Package

Author: Qingwen Zhang. Please give us a star if you like this repo! 🌟 and cite our work 📖 if you find this useful for your research. Thanks!

Available in:

All datasets and benchmark methods check: DynamicMap_Benchmark if you are not only interested in the method but also the comparison.

Note: to know better about the parameters meaning and ablation study, please check the paper.

📜 Change Log:

• 2024-08-29: Remove OpenMP but add oneTBB for all codes. Speed up the code by 18%. Check the discussion here.
• 2024-08-28: Refactor the code and add __init__.py to have the input array must be contiguous first.
• 2024-07-03: Speed up nanobind np.array <-> std::vector<Eigen:: Vector3d> conversion and also NOMINSIZE in make. Speed difference: 0.1s -> 0.01s. Based on discussion here.
• 2023-11-28: Initial version.

Installation:

pip install dufomap

Run the example

Demo usage:

from dufomap import dufomap
# pointcloud: Nx3 numpy array
# pose: 4x4 numpy array or a list with 7 elements (x,y,z,qw,qx,qy,qz)
mydufo = dufomap()
mydufo.run(pointcloud, pose, cloud_transform=True)
label = mydufo.segment(pointcloud, pose, cloud_transform = True)
# 1: dynamic, 0: static

Or you can check the full example script in [example.py]. If you run the example script, it will directly show a default effect of demo data.

# for this demo you need install open3d to run the visualization
pip install open3d fire

wget https://zenodo.org/records/10886629/files/00.zip
unzip 00.zip
python example.py --data_dir ./00

Acknowledgement

This python binding is developed during our SeFlow work, please cite our paper if you use this package in Python:

@inproceedings{zhang2024seflow,
  author={Zhang, Qingwen and Yang, Yi and Li, Peizheng and Andersson, Olov and Jensfelt, Patric},
  title={{SeFlow}: A Self-Supervised Scene Flow Method in Autonomous Driving},
  booktitle={European Conference on Computer Vision (ECCV)},
  year={2024},
  pages={353–369},
  organization={Springer},
  doi={10.1007/978-3-031-73232-4_20},
}
@article{daniel2024dufomap,
  author={Duberg, Daniel and Zhang, Qingwen and Jia, Mingkai and Jensfelt, Patric},
  journal={IEEE Robotics and Automation Letters}, 
  title={{DUFOMap}: Efficient Dynamic Awareness Mapping}, 
  year={2024},
  volume={9},
  number={6},
  pages={5038-5045},
  doi={10.1109/LRA.2024.3387658}
}