allmyslam1/spark-dsg

Scene Graph API (C++ and Python)

Spark-DSG

This is the core c++ library that contains the dynamic scene graph data-structure used by Hydra. It also has python bindings.

Building for Python

1. Install requirements and make a virtual environment:

sudo apt install libpcl-dev python3-venv
mkdir /path/to/environment
cd /path/to/environment
python3 -m venv dsg  # or some other environment name

# you may also want to upgrade pip on 18.04, though it shouldn't be necessary
# source dsg/bin/activate
# pip install --upgrade pip

2. Install the python package

source /path/to/dsg/environment/bin/activate

# you might want to set cmake to use multiple threads
# export CMAKE_BUILD_PARALLEL_LEVEL=8

git clone [email protected]:SPARK/Spark-DSG.git
cd Spark-DSG
pip install -e .

Python Bindings Usage

See this notebook for some examples for the bindings (you'll want to clone the repo, even if you installed from github). You'll want to install jupyter and jupytext if you want to run it as a notebook, though you can also just run it directly as a python script.

Python API documentation

Generating the python documentation should be as simple as:

source /path/to/dsg/environment/bin/activate
cd doc
pip install sphinx  # if you haven't already
make html
python -m http.server  # to serve them locally

Building For ROS

This repository is a valid catkin package and should build if placed in a workspace.