fix(memcpy): need ascontiguousarray before memcpy. So add init file to do so.

* add more data in README
* support python=3.13 also
* rename default branch to main.
* update HiMo link where I develop this package from this project.
* same api still to align previous fn etc.

Author: Kin-Zhang

.github/workflows/Pip.yml

@@ -5,7 +5,7 @@ on:
   pull_request:
   push:
     branches:
-     - master
+    - main
   release:
     types:
       - published

.github/workflows/Wheels.yml

@@ -5,7 +5,7 @@ on:
   pull_request:
   push:
     branches:
-     - master
+     - main
   release:
     types:
       - published

README.md

@@ -5,7 +5,8 @@ linefit
 [![Python Versions](https://img.shields.io/pypi/pyversions/linefit)](https://pypi.org/project/linefit/)
 [![Download Stats](https://img.shields.io/pypi/dm/linefit)](https://pypistats.org/packages/linefit)
 
-linefit is a ground segmentation algorithm for 3D point clouds. This repo we setup a python binding for the original C++ code and push to pypi for easy installation through `pip install linefit`.
+linefit is a ground segmentation algorithm for 3D point clouds. 
+This repo we setup a python binding for the original C++ code and push to pypi for easy installation through `pip install linefit`.
 
 Author: C++ code from [Lorenz Wellhausen](https://github.com/lorenwel), python package from [Qingwen Zhang](https://kin-zhang.github.io/).
 
@@ -15,6 +16,7 @@ Available in: <a href="https://github.com/Kin-Zhang/linefit"><img src="https://i
 
 <!--  -->
 📜 Change Log:
+- 2025-04-18: Add `__init__.py` to the package with `ascontiguousarray` to avoid unexpected point error reading, add package to the latest python (3.13) also. Rename the default branch to `main`.
 - 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](https://github.com/wjakob/nanobind/discussions/426).
 - 2024-02-15: Initial version.
 
@@ -26,9 +28,8 @@ Option A: Install from pypi `pip install linefit`
 
 Option B: Clone this repo and run following to build:
 ```bash
-cmake -B build && cmake --build build
-pip install .
-python3 -c 'import linefit; print("success")'
+pip install git+https://github.com/Kin-Zhang/linefit
+python3 -c 'import linefit; print("linefit ground seg lib import success")'
 ```
 
 Dependencies for demo:
@@ -106,6 +107,17 @@ The original methods are described in the following paper:
 }
 ```
 
+This Python package is developed during HiMo project, please consider to cite our paper if this python package is helpful for your research:
+
+```
+@article{zhang2025himo,
+    title={HiMo: High-Speed Objects Motion Compensation in Point Cloud},
+    author={Zhang, Qingwen and Khoche, Ajinkya and Yang, Yi and Ling, Li and Sina, Sharif Mansouri and Andersson, Olov and Jensfelt, Patric},
+    year={2025},
+    journal={arXiv preprint arXiv:2503.00803},
+}
+```
+
 More python binding examples can be found in our other project:
 - [dufomap](https://github.com/KTH-RPL/dufomap): a dynamic awareness mapping framework. Remove dynamic points in a raw map.
 - [dztimer](https://github.com/KTH-RPL/dztimer): a breakout timer for python code.

assets/README.md

@@ -3,7 +3,14 @@ Assets
 
 ## Data
 
+
+
+### PCD/npy Format
 The data is generated by [DynamicMap Benchmark](https://github.com/KTH-RPL/DynamicMap_Benchmark). 
 
-Detail code could be find in [scripts/py/data](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/py/data). 
-Although the original is save to pcd. While, adding `np.save` to save the data as `.npy` file.
+Detail code could be found in [scripts/py/data](https://github.com/KTH-RPL/DynamicMap_Benchmark/blob/master/scripts/py/data). 
+Although the original is saved to pcd. While, adding `np.save` to save the data as `.npy` file.
+
+
+### H5 Format
+The sequence data can be generated by [OpenSceneFlow](https://github.com/KTH-RPL/OpenSceneFlow). Check more detail on [here](https://github.com/KTH-RPL/OpenSceneFlow/blob/main/dataprocess/README.md#process).

assets/config/README.md

@@ -8,10 +8,14 @@ Popular Dataset config
 Here is what I mean, all visualization here are provided by [DeFlow vis scripts](https://github.com/KTH-RPL/DeFlow/blob/main/tests/scene_flow.py):
 ![](../docs/sensor_pos.png)
 
+`${#lidar}x ${#channel} lidar` mean how many lidar and how many channel lidar in the dataset.
+
 - [x] KITTI: 1x 64 lidar
 - [x] Nuscenes: 1x 32 lidar
 - [x] Argoverse 2: 2x 32 lidar
+- [x] [Zod](https://zod.zenseact.com/): 128 lidar + 2x 16 lidar
 - [ ] [Semi-indoor](https://github.com/KTH-RPL/DynamicMap_Benchmark?tab=readme-ov-file#dataset--scripts): 1x 16 lidar
-- [ ] Waymo: custom lidar.
-- [ ] [Zod](https://zod.zenseact.com/): 128 lidar + 2x 16 lidar
+- [ ] Waymo: 1x custom 64 lidar.
+- [ ] [Scania](https://kin-zhang.github.io/HiMo): 6/10x 32 lidar.
+- [ ] [TruckScene](https://github.com/TUMFTM/truckscenes-devkit): 1x 128 lidar.
 ... More on the way

assets/config/zod.toml

@@ -0,0 +1,31 @@
+
+[important]
+height = 2.1        # sensor height. 雷达传感器高度，主要是+offset
+
+# 整个雷点点云以自己为中心 分为多少个segment，每个segment又分成多少个bin
+[segments]
+r_min = 0.1          # minimum point distance. 感兴趣的区域
+r_max = 100           # maximum point distance.
+n_segments = 360     # number of radial segments.
+n_bins = 160         # number of radial bins.
+
+
+[ground]
+# 直线的 slope 斜率，一个seg里拟合的线斜率
+min_slope = 0.0      # minimum slope of a ground line. [T_m_small]
+max_slope = 0.1     # maximum slope of a ground line. [T_m]
+# 如果拟合点超过这个 long threshold，判断其 height 变化是否超过 max_long_height
+long_threshold = 2.0    # Distance at which points are considered far from each other. [T_d_prev]
+max_long_height = 0.2   # maximum height change to previous point in long line. [T_b]
+# 如果没有超过 long threshold，判断现在拟合的点与fitline高度变化是否超过 max_start_height
+max_start_height = 0.2  # Maximum heigh of starting line to be labelled ground.
+# 最大的拟合误差，超过这个误差的点不会被加入 line 拟合
+max_fit_error = 0.1  # maximum error of a point during line fit. [T_RMSE: will sqaure inside code.]
+
+# 判断是否是地面点的时候，需要满足的条件：
+max_dist_to_line = 0.2   # maximum vertical distance of point to line to be considered ground. [T_d_ground]
+line_search_angle = 2.0 # How far to search for a line in angular direction [rad].
+
+[general]
+n_threads = 8        # number of threads for parallel processing.
+verbose = false       # if you don't want to see every output, set this to false.

example.py

@@ -27,7 +27,7 @@
     else:
         groundseg = ground_seg(config_path)
     label = np.array(groundseg.run(pc_data[:,:3]))
-    print(f"point cloud shape: {pc_data[:, :3].shape}, label shape: {label.shape}, ground points: {np.sum(label)}, time: {time.time() - start_time:.3f} s")
+    print(f"point cloud shape: {pc_data[:, :3].shape}, label shape: {label.shape}, ground points: {np.sum(label)}, process time: {(time.time() - start_time)*1000:.3f} ms")
 
     from python.utils.o3d_view import MyVisualizer
     import open3d as o3d

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "linefit"
-version = "1.0.1"
+version = "1.1.0"
 description = "linefit ground segmentation algorithm Python bindings"
 readme = "README.md"
 requires-python = ">=3.8"
@@ -19,6 +19,7 @@ classifiers = [
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",        
 ]
 
 [project.urls]
@@ -33,7 +34,7 @@ minimum-version = "0.4"
 build-dir = "build/{wheel_tag}"
 
 # Build stable ABI wheels for CPython 3.12+
-wheel.py-api = "cp312"
+wheel.py-api = "cp313"
 
 
 [tool.cibuildwheel]

python/CMakeLists.txt

@@ -1,3 +1,3 @@
-nanobind_add_module(linefit MODULE NOMINSIZE linefit_ext.cpp)
-target_link_libraries(linefit PRIVATE gm_lib)
-install(TARGETS linefit LIBRARY DESTINATION .)
+nanobind_add_module(linefit_bind MODULE NOMINSIZE linefit_ext.cpp)
+target_link_libraries(linefit_bind PRIVATE gm_lib)
+install(TARGETS linefit_bind LIBRARY DESTINATION .)

python/linefit/__init__.py

@@ -0,0 +1,34 @@
+'''
+# @date: 2025-04-18 18:29
+# @author: Qingwen Zhang  (https://kin-zhang.github.io/)
+# Copyright (C) 2025-now, RPL, KTH Royal Institute of Technology
+# 
+# This file is part of HiMo (https://kin-zhang.github.io/HiMo).
+# If you find this repo helpful, please cite the respective publication as 
+# listed on the above website.
+'''
+
+__version__ = "1.1.0"
+
+import numpy as np
+import linefit_bind
+
+class ground_seg:
+    def __init__(self, config_path=None):
+        """
+        config_path (str): path to the config file, if None, use default parameters
+        """
+        if config_path is None:
+            self.linefit_fn = linefit_bind.ground_seg()
+        else:
+            self.linefit_fn = linefit_bind.ground_seg(config_path)
+    
+    def run(self, points):
+        """
+        Parameters
+        ----------
+        points (np.ndarray): point cloud data, shape (N, 3), 3 for x, y, z
+        """
+        points = np.ascontiguousarray(points.astype(np.float32))
+        labels = np.array(self.linefit_fn.run(points[:, :3])).astype(np.uint8)
+        return labels