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Visualizer based on Polyscope #29

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merged 8 commits into from
Aug 15, 2024
Merged

Visualizer based on Polyscope #29

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cbb28d4
Registration Visualizer works
saurabh1002 Aug 8, 2024
ea291b2
Closures also visualized now, more improvement needed
saurabh1002 Aug 9, 2024
c57d277
This visualizer looks good, density maps added
saurabh1002 Aug 13, 2024
d6796c1
fix closure trace in visualizer
saurabh1002 Aug 14, 2024
19e0045
Second imgui window for closures
l00p3 Aug 15, 2024
e5b67d1
Screenshot raus
l00p3 Aug 15, 2024
f4dda7f
cosmetic changes
saurabh1002 Aug 15, 2024
94e3cc9
Final layout of gui, fix some issues in maytplotlib
saurabh1002 Aug 15, 2024
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3 changes: 3 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -124,3 +124,6 @@ __pypackages__/

# VSCode
.vscode

# Polyscope
*.ini
8 changes: 4 additions & 4 deletions README.md
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Expand Up @@ -24,7 +24,7 @@ Effectively Detecting Loop Closures using Point Cloud Density Maps.
<hr />

## Use MapClosures in your C++ project

1. Include the following snippet in your project's `CMakeLists.txt`:
```cmake
set(USE_SYSTEM_EIGEN3 ON CACHE BOOL "use system eigen3")
Expand All @@ -33,7 +33,7 @@ set(USE_SYSTEM_OPENCV ON CACHE BOOL "use system opencv")

include(FetchContent)
FetchContent_Declare(
map_closures
map_closures
GIT_REPOSITORY https://github.com/PRBonn/MapClosures.git
GIT_TAG main
SOURCE_SUBDIR cpp
Expand All @@ -52,7 +52,7 @@ target_link_libraries(my_target PUBLIC map_closures)
#include <map_closures/MapClosures.hpp>
```

## Install the Python API and CLI
## Install the Python API and CLI
1. First, install the necessary system dependencies
```sh
sudo apt-get install --no-install-recommends -y build-essential cmake pybind11-dev libeigen3-dev libopencv-dev libtbb-dev
Expand All @@ -61,7 +61,7 @@ target_link_libraries(my_target PUBLIC map_closures)
```sh
pip install kiss-icp
```
3. Then run:
3. Then run:
```sh
make
```
Expand Down
11 changes: 9 additions & 2 deletions python/map_closures/pipeline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ def __init__(

self.closures = []
self.local_maps = []
self.density_maps = []
self.odom_poses = np.zeros((self._n_scans, 4, 4))

self.closure_overlap_threshold = 0.5
Expand Down Expand Up @@ -140,7 +141,10 @@ def _run_pipeline(self):
frame_to_map_pose = np.linalg.inv(current_map_pose) @ current_frame_pose
self.voxel_local_map.add_points(transform_points(frame_downsample, frame_to_map_pose))
self.visualizer.update_registration(
source, keypoints, self.voxel_local_map, current_frame_pose, frame_to_map_pose
source,
self.voxel_local_map.point_cloud(),
current_frame_pose,
frame_to_map_pose,
)

if np.linalg.norm(frame_to_map_pose[:3, -1]) > self._map_range or (
Expand All @@ -160,6 +164,7 @@ def _run_pipeline(self):
np.copy(poses_in_local_map),
)
)
self.density_maps.append(self.map_closures.get_density_map_from_id(map_idx))

if closure.number_of_inliers > self.closure_config.inliers_threshold:
reference_local_map = self.local_maps[closure.source_id]
Expand All @@ -186,6 +191,8 @@ def _run_pipeline(self):
self.visualizer.update_closures(
reference_local_map.pointcloud,
query_local_map.pointcloud,
self.density_maps[closure.source_id],
self.density_maps[closure.target_id],
np.asarray(closure.pose),
[
reference_local_map.scan_indices[0],
Expand All @@ -209,7 +216,7 @@ def _run_pipeline(self):
scan_indices_in_local_map.append(scan_idx)
poses_in_local_map.append(current_frame_pose)

self.visualizer.pause_vis()
# self.visualizer.pause_vis()

def _log_to_file(self):
np.savetxt(os.path.join(self._results_dir, "map_closures.txt"), np.asarray(self.closures))
Expand Down
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