Features/ground align and pruning (#55)

* write cpp test for heaptrack

* add ground alignment part

* add self-similarity check

* add ground align to heaptrack test

* remove unused piece of code

* remove self_similarity_filter flag, make it default

* modify pipeline to return all closures for a given local map

* update test.cpp for changes in api

* modify density map generation after heaptrack insights

* use std::size_t for container sizes type consistently

* modify functions to implicitly ground align and prune features, rename and constexpr stuff

* remove test code for heaptrack

* remove explicit API call for ground alignment

* modify default config

* remove explicit ground alignment, no downsampling before adding to local map

* add numeric coz windows is dumb

* new API for best, top_k and all closures per map

* remove - to also push tar.gz artifact to pypi

* Change in API

* massive change in API: replace match_and_add function with get_closures

* remove gt_closures_pipeline stuff, related 3rdparty librbries

* remove from README as well, still available on ICRA2024 tag

* add readme to python folder for pypi description

* bump version to 2.0.0

* fix name of func

* remove the local_map_factor config

---------

Co-authored-by: tizianoGuadagnino <[email protected]>

.github/workflows/cpp.yml

@@ -49,7 +49,7 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y build-essential cmake git libeigen3-dev libtbb-dev libopencv-dev
+          sudo apt-get install -y build-essential cmake git libeigen3-dev libopencv-dev
       - name: Configure CMake
         run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp
       - name: Build

.github/workflows/pypi.yml

@@ -59,7 +59,7 @@ jobs:
     steps:
       - uses: actions/download-artifact@v4
         with:
-          pattern: artifact-*
+          pattern: artifact*
           path: dist
           merge-multiple: true
 

README.md

@@ -10,7 +10,7 @@
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href="https://github.com/PRBonn/MapClosures/blob/main/README.md#Install">Install</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
-    <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf>Paper</a>
+    <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf>ICRA24 Paper</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://github.com/PRBonn/MapClosures/issues>Contact Us</a>
   <br />
@@ -30,7 +30,6 @@ Effectively Detecting Loop Closures using Point Cloud Density Maps.
 1. Include the following snippet in your project's `CMakeLists.txt`:
 ```cmake
 set(USE_SYSTEM_EIGEN3 ON CACHE BOOL "use system eigen3")
-set(USE_SYSTEM_TBB ON CACHE BOOL "use system tbb")
 set(USE_SYSTEM_OPENCV ON CACHE BOOL "use system opencv")
 
 include(FetchContent)
@@ -102,11 +101,6 @@ git checkout ICRA2024
 ```
 Our development aims to push the performances of **MapClosures** above the original results of the paper.
 
-**Note**: You can download the ground-truth loop closure candidates for the datasets used in the paper from [here](https://www.ipb.uni-bonn.de/html/projects/gupta2024icra/MapClosuresGroundtruth.zip). When run with `-e` flag, our pipeline will search for groundtruth data under the folder at path `<data>/loop_closure/`. If not found, it will first generate the groundtruth closures which might consume some time. You can also generate the groundtruth closures following the approach mentioned in our paper using the following command:
-```sh
-gt_closure_pipeline <dataloader> <path-to-data>
-```
-
 
 ## Acknowledgement
 

config/basic_config.yaml

@@ -2,4 +2,3 @@ density_map_resolution: 0.5
 density_threshold: 0.05
 hamming_distance_threshold: 50
 inliers_threshold: 5
-local_map_factor: 1.0             # Local Map size as a multiple of the maximum range of the LiDAR

cpp/3rdparty/find_dependencies.cmake

@@ -41,10 +41,8 @@ macro(find_external_dependency PACKAGE_NAME TARGET_NAME INCLUDED_CMAKE_PATH)
 endmacro()
 
 find_external_dependency("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake")
-find_external_dependency("TBB" "TBB::tbb" "${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake")
 find_external_dependency("OpenCV" "opencv_features2d"
                          "${CMAKE_CURRENT_LIST_DIR}/opencv/opencv.cmake")
-find_external_dependency("tsl-robin-map" "tsl::robin_map"
-                         "${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake")
+find_external_dependency("Sophus" "Sophus::Sophus" "${CMAKE_CURRENT_LIST_DIR}/sophus/sophus.cmake")
 
 include(${CMAKE_CURRENT_LIST_DIR}/hbst/hbst.cmake)

cpp/3rdparty/tsl_robin/LICENSE → cpp/3rdparty/sophus/LICENSE

@@ -1,6 +1,4 @@
-MIT License
-
-Copyright (c) 2017 Thibaut Goetghebuer-Planchon <[email protected]>
+Copyright (c) 2008-2015 Jesse Beder.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -9,13 +7,13 @@ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:
 
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWAR

cpp/3rdparty/tsl_robin/tsl_robin.cmake → cpp/3rdparty/sophus/sophus.cmake

@@ -1,7 +1,6 @@
 # MIT License
 #
-# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
-# Stachniss.
+# # Copyright (c) 2023 Saurabh Gupta, Ignacio Vizzo, Cyrill Stachniss, University of Bonn
 #
 # Permission is hereby granted, free of charge, to any person obtaining a copy
 # of this software and associated documentation files (the "Software"), to deal
@@ -21,6 +20,13 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 include(FetchContent)
-FetchContent_Declare(tessil SYSTEM
-                     URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.2.1.tar.gz)
-FetchContent_MakeAvailable(tessil)
+
+set(SOPHUS_USE_BASIC_LOGGING ON CACHE BOOL "Don't use fmt for Sophus libraru")
+set(BUILD_SOPHUS_TESTS OFF CACHE BOOL "Don't build Sophus tests")
+set(BUILD_SOPHUS_EXAMPLES OFF CACHE BOOL "Don't build Sophus Examples")
+
+FetchContent_Declare(
+  sophus SYSTEM URL https://github.com/strasdat/Sophus/archive/refs/tags/1.22.10.tar.gz
+  PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_LIST_DIR}/sophus.patch UPDATE_DISCONNECTED 1)
+
+FetchContent_MakeAvailable(sophus)

cpp/3rdparty/sophus/sophus.patch

@@ -0,0 +1,12 @@
+diff --git a/sophus/common.hpp b/sophus/common.hpp
+index 5634d35b..56a1b590 100644
+--- a/sophus/common.hpp
++++ b/sophus/common.hpp
+@@ -18,7 +18,7 @@
+ #define SOPHUS_FMT_CSTR(description, ...) description
+ #define SOPHUS_FMT_STR(description, ...) std::string(description)
+ #define SOPHUS_FMT_PRINT(description, ...) std::printf("%s\n", description)
+-#define SOPHUS_FMT_ARG(arg)
++#define SOPHUS_FMT_ARG(arg) arg
+
+ #else  // !SOPHUS_USE_BASIC_LOGGING