├── .gitignore ├── CMakeLists.txt ├── README.md ├── docker └── docker_run.sh ├── examples ├── README.md ├── data │ ├── KITTI_SCD_download_link.txt │ ├── kcp │ │ ├── 1531883530.449377000.pcd │ │ └── 1531883530.949817000.pcd │ └── kitti_00_partial │ │ ├── 000000.bin │ │ ├── 000001.bin │ │ ├── 000002.bin │ │ ├── 000020.bin │ │ └── 000040.bin ├── test_batch_scd_saver.py ├── test_compare_scd.py ├── test_make_desciptor.py ├── test_single_session_online_place_recognition.py └── test_utils.py ├── python ├── CMakeLists.txt ├── setup.py.in └── wrapper.cpp └── scancontext ├── CMakeLists.txt └── include └── scancontext ├── KDTreeVectorOfVectorsAdaptor.h ├── Scancontext.cpp └── Scancontext.h /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | SCD/ 3 | __pycache__/ 4 | -------------------------------------------------------------------------------- /CMakeLists.txt: 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