Move the ground truth closure computation to C++ #32
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tizianoGuadagnino
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Aug 28, 2024
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tizianoGuadagnino
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MIT LIcense everywhere
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@saurabh1002 I marked this as draft because it looks like you are still working on it. Just let us know when it's ready to review 👍 |
benemer
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Oct 15, 2024
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Amazing speed-up, love it :) |
benemer
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Oct 15, 2024
tizianoGuadagnino
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Oct 15, 2024
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Move GT closures computation to C++ and make it fast, python equivalent takes ages for large datasets:
Nothing changes in the way we compute gt closures, except for the bug fixes in VoxelHashMap from KISS-ICP which was internally used to compute the overlap score between two local segments of the trajectory
Provide a standalone
gt_closure_pipelineto generate and store ground truth closures:Useful since some of the other approaches for loop closures have started to use a similar idea for gt closures as proposed in our paper
Performance upgrade is from hours/days to minutes -> C++ to the win
That means our approach can be evaluated on more datasets faster.