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Releases: PRBonn/MapClosures

v2.0.0

20 Jan 15:17
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What's Changed

Major API Breaking changes

  1. No match_and_add function now!!
  2. Instead, get_closures, get_best_closure and get_top_k_closures available, performing same functions as their name suggests.

The following new features are added:

  1. A Ground Alignment module which aligns each local map's physical ground-plane to its xy-plane.
  2. A feature pruning step based on the self-similarity of ORB feature descriptors.

The other minor changes are:

  1. Modify DensityMap generation based on analysis from heaptrack. Now it allocates less useless memory.
  2. Make magic numbers in code as static constexpr
  3. make container sizes' types as std::size_t for windows MSVC to not complain
  4. Drop pipeline for groundtruth closure computation (This will be made available later as a separate repo, and could be still used from earlier tags/versions of this repo)

Full Changelog: v1.0.1...v2.0.0

v1.0.1

17 Jan 10:24
eef1d23
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NOW AVAILABLE: pip install map-closures

What's Changed

New Contributors

Full Changelog: v1.0.0...v1.0.1

v1.0.0

04 Sep 08:16
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Full Changelog: v0.2.0...v1.0.0

v0.2.0

15 Apr 12:53
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New Contributors

Full Changelog: v0.1.0...v0.2.0

v0.1.0

14 Mar 18:34
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📰: BETA-release

We are releasing the code for the ICRA2024 paper titled Effectively Detecting Loop Closures using Point Cloud Density Maps.

git clone https://github.com/PRBonn/MapClosures.git
cd MapClosures
make

To get started:
CLI_usage