map-closures 2.1.0__tar.gz → 2.2.0__tar.gz

{map_closures-2.1.0 → map_closures-2.2.0}/CMakeLists.txt

@@ -20,7 +20,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.26)
-project(map_closure_pybind VERSION 2.1.0 LANGUAGES CXX)
+project(map_closure_pybind VERSION 2.2.0 LANGUAGES CXX)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)

{map_closures-2.1.0 → map_closures-2.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: map_closures
-Version: 2.1.0
+Version: 2.2.0
 Summary: Effectively Detecting Loop Closures using Point Cloud Density Maps
 Keywords: Loop Closures,Localization,SLAM,LiDAR
 Author: Saurabh Gupta, Tiziano Guadagnino
@@ -53,6 +53,8 @@ Description-Content-Type: text/markdown
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf>ICRA24 Paper</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2026ijrr.pdf>IJRR26 Paper</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://github.com/PRBonn/MapClosures/issues>Contact Us</a>
   <br />
   <br />
@@ -96,7 +98,7 @@ map_closure_pipeline -v
 
 ## Citation
 
-If you use this library for any academic work, please cite our original [paper](https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf).
+If you use this library for any academic work, please cite our original papers.
 
 ```bibtex
 @inproceedings{gupta2024icra,
@@ -106,6 +108,15 @@ If you use this library for any academic work, please cite our original [paper](
     year       = {2024},
     codeurl    = {https://github.com/PRBonn/MapClosures},
 }
+@article{gupta2026ijrr,
+    author     = {Saurabh Gupta and Tiziano Guadagnino and Benedikt Mersch and Niklas Trekel and Meher V. R. Malladi and Cyrill Stachniss},
+    title      = {{Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps}},
+    booktitle  = {The International Journal of Robotics Research (IJRR)},
+    volume     = {0},
+    number     = {0},
+    year       = {2026},
+    codeurl    = {https://github.com/PRBonn/MapClosures},
+}
 ```
 
 ## Acknowledgement

{map_closures-2.1.0 → map_closures-2.2.0}/README.md

@@ -12,6 +12,8 @@
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf>ICRA24 Paper</a>
     <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href=https://www.ipb.uni-bonn.de/pdfs/gupta2026ijrr.pdf>IJRR26 Paper</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
     <a href=https://github.com/PRBonn/MapClosures/issues>Contact Us</a>
   <br />
   <br />
@@ -55,7 +57,7 @@ map_closure_pipeline -v
 
 ## Citation
 
-If you use this library for any academic work, please cite our original [paper](https://www.ipb.uni-bonn.de/pdfs/gupta2024icra.pdf).
+If you use this library for any academic work, please cite our original papers.
 
 ```bibtex
 @inproceedings{gupta2024icra,
@@ -65,6 +67,15 @@ If you use this library for any academic work, please cite our original [paper](
     year       = {2024},
     codeurl    = {https://github.com/PRBonn/MapClosures},
 }
+@article{gupta2026ijrr,
+    author     = {Saurabh Gupta and Tiziano Guadagnino and Benedikt Mersch and Niklas Trekel and Meher V. R. Malladi and Cyrill Stachniss},
+    title      = {{Efficiently Closing Loops in LiDAR-Based SLAM Using Point Cloud Density Maps}},
+    booktitle  = {The International Journal of Robotics Research (IJRR)},
+    volume     = {0},
+    number     = {0},
+    year       = {2026},
+    codeurl    = {https://github.com/PRBonn/MapClosures},
+}
 ```
 
 ## Acknowledgement

{map_closures-2.1.0 → map_closures-2.2.0}/map_closures/__init__.py

@@ -20,4 +20,4 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-__version__ = "2.1.0"
+__version__ = "2.2.0"

map_closures-2.2.0/map_closures/map_closures.py

@@ -0,0 +1,149 @@
+# MIT License
+#
+# Copyright (c) 2026 Saurabh Gupta
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# 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 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.
+from typing import List, overload
+
+import numpy as np
+from typing_extensions import TypeAlias
+
+from map_closures.config import MapClosuresConfig
+from map_closures.pybind import map_closures_pybind
+from map_closures.pybind.map_closures_pybind import _Vector3dVector as Vector3dVector
+
+ClosureCandidate: TypeAlias = map_closures_pybind._ClosureCandidate
+
+
+class MapClosures:
+    def __init__(self, config: MapClosuresConfig = MapClosuresConfig()):
+        self._config = config
+        self._pipeline = map_closures_pybind._MapClosures(self._config.model_dump())
+
+    @overload
+    def get_best_closure(self, query_idx: int, local_map: np.ndarray) -> ClosureCandidate:
+        ...
+
+    @overload
+    def get_best_closure(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        voxel_means: np.ndarray,
+        voxel_normals: np.ndarray,
+    ) -> ClosureCandidate:
+        ...
+
+    def get_best_closure(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        voxel_means: np.ndarray = None,
+        voxel_normals: np.ndarray = None,
+    ) -> ClosureCandidate:
+        if voxel_means is None or voxel_normals is None:
+            closure = self._pipeline._GetBestClosure(query_idx, Vector3dVector(local_map))
+        else:
+            closure = self._pipeline._GetBestClosure(
+                query_idx,
+                Vector3dVector(local_map),
+                Vector3dVector(voxel_means),
+                Vector3dVector(voxel_normals),
+            )
+        return closure
+
+    @overload
+    def get_top_k_closures(
+        self, query_idx: int, local_map: np.ndarray, k: int
+    ) -> List[ClosureCandidate]:
+        ...
+
+    @overload
+    def get_top_k_closures(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        k: int,
+        voxel_means: np.ndarray,
+        voxel_normals: np.ndarray,
+    ) -> List[ClosureCandidate]:
+        ...
+
+    def get_top_k_closures(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        k: int,
+        voxel_means: np.ndarray = None,
+        voxel_normals: np.ndarray = None,
+    ) -> List[ClosureCandidate]:
+        if voxel_means is None or voxel_normals is None:
+            top_k_closures = self._pipeline._GetTopKClosures(
+                query_idx, Vector3dVector(local_map), k
+            )
+        else:
+            top_k_closures = self._pipeline._GetTopKClosures(
+                query_idx,
+                Vector3dVector(local_map),
+                Vector3dVector(voxel_means),
+                Vector3dVector(voxel_normals),
+                k,
+            )
+        return top_k_closures
+
+    @overload
+    def get_closures(self, query_idx: int, local_map: np.ndarray) -> List[ClosureCandidate]:
+        ...
+
+    @overload
+    def get_closures(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        voxel_means: np.ndarray,
+        voxel_normals: np.ndarray,
+    ) -> List[ClosureCandidate]:
+        ...
+
+    def get_closures(
+        self,
+        query_idx: int,
+        local_map: np.ndarray,
+        voxel_means: np.ndarray = None,
+        voxel_normals: np.ndarray = None,
+    ) -> List[ClosureCandidate]:
+        if voxel_means is None or voxel_normals is None:
+            closures = self._pipeline._GetClosures(query_idx, Vector3dVector(local_map))
+        else:
+            closures = self._pipeline._GetClosures(
+                query_idx,
+                Vector3dVector(local_map),
+                Vector3dVector(voxel_means),
+                Vector3dVector(voxel_normals),
+            )
+        return closures
+
+    def get_density_map_from_id(self, map_id: int) -> np.ndarray:
+        return self._pipeline._getDensityMapFromId(map_id)
+
+    def get_ground_alignment_from_id(self, map_id: int) -> np.ndarray:
+        return np.asarray(self._pipeline._getGroundAlignmentFromId(map_id))
+
+    def save_hbst_database(self, database_path: str):
+        self._pipeline._SaveHbstDatabase(database_path)

{map_closures-2.1.0 → map_closures-2.2.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "map_closures"
-version = "2.1.0"
+version = "2.2.0"
 description = "Effectively Detecting Loop Closures using Point Cloud Density Maps"
 authors = [{ name = "Saurabh Gupta" }, { name = "Tiziano Guadagnino" }]
 readme = "README.md"
@@ -58,8 +58,8 @@ Homepage = "https://github.com/PRBonn/MapClosures"
 
 [tool.scikit-build]
 build-dir = "build/{wheel_tag}"
-cmake.verbose = false
-cmake.minimum-version = "3.22"
+build.verbose = false
+cmake.version = ">=3.22"
 editable.mode = "redirect"
 editable.rebuild = true
 editable.verbose = true

map_closures-2.1.0/map_closures/map_closures.py

@@ -1,60 +0,0 @@
-# MIT License
-#
-# Copyright (c) 2026 Saurabh Gupta
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# 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 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.
-from typing import List
-
-import numpy as np
-from typing_extensions import TypeAlias
-
-from map_closures.config import MapClosuresConfig
-from map_closures.pybind import map_closures_pybind
-from map_closures.pybind.map_closures_pybind import _Vector3dVector as Vector3dVector
-
-ClosureCandidate: TypeAlias = map_closures_pybind._ClosureCandidate
-
-
-class MapClosures:
-    def __init__(self, config: MapClosuresConfig = MapClosuresConfig()):
-        self._config = config
-        self._pipeline = map_closures_pybind._MapClosures(self._config.model_dump())
-
-    def get_best_closure(self, query_idx: int, local_map: np.ndarray) -> ClosureCandidate:
-        closure = self._pipeline._GetBestClosure(query_idx, Vector3dVector(local_map))
-        return closure
-
-    def get_top_k_closures(
-        self, query_idx: int, local_map: np.ndarray, k: int
-    ) -> List[ClosureCandidate]:
-        top_k_closures = self._pipeline._GetTopKClosures(query_idx, Vector3dVector(local_map), k)
-        return top_k_closures
-
-    def get_closures(self, query_idx: int, local_map: np.ndarray) -> List[ClosureCandidate]:
-        closures = self._pipeline._GetClosures(query_idx, Vector3dVector(local_map))
-        return closures
-
-    def get_density_map_from_id(self, map_id: int) -> np.ndarray:
-        return self._pipeline._getDensityMapFromId(map_id)
-
-    def get_ground_alignment_from_id(self, map_id: int) -> np.ndarray:
-        return np.asarray(self._pipeline._getGroundAlignmentFromId(map_id))
-
-    def save_hbst_database(self, database_path: str):
-        self._pipeline._SaveHbstDatabase(database_path)