feat: new python bindings

cpp/pybind/CMakeLists.txt

@@ -1,10 +1,11 @@
-pybind11_add_module(pybind metrics.cpp)
+pybind11_add_module(pybind
+        map_metrics_pybind.cpp
+        config.cpp
+        map_tree.cpp
+        metrics.cpp
+        utils/cloud_utils.cpp)
 
 find_package(Eigen3 3.4 REQUIRED)
 
-# TODO: remove?
-target_link_libraries(pybind PRIVATE ${cilantro_LIBRARIES})
-target_include_directories(pybind PRIVATE "${CMAKE_BINARY_DIR}/external/cilantro/cilantro/include")
-
 target_link_libraries(pybind PRIVATE Eigen3::Eigen)
 target_link_libraries(pybind PUBLIC map_metrics)

cpp/pybind/config.cpp

@@ -0,0 +1,32 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#include "config.h"
+
+#include "map_metrics/config.h"
+
+namespace map_metrics {
+void pybindConfig(py::module& m) {
+  py::module_ m_config = m.def_submodule("config", "Predefined config class");
+
+  py::class_<Config>(m_config, "Config")
+      .def(py::init<int, double, int, int>(), py::arg("min_knn") = 5, py::arg("knn_rad") = 1.0, py::arg("max_nn") = 30,
+           py::arg("min_clust_size") = 5);
+}
+}  // namespace map_metrics

cpp/pybind/config.h

@@ -0,0 +1,29 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#ifndef MAP_METRICS_PYBIND_CONFIG_H
+#define MAP_METRICS_PYBIND_CONFIG_H
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace map_metrics {
+void pybindConfig(py::module& m);
+}
+#endif  // MAP_METRICS_PYBIND_CONFIG_H

cpp/pybind/map_metrics_pybind.cpp

@@ -0,0 +1,36 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#include "pybind11/pybind11.h"
+
+#include "config.h"
+#include "map_tree.h"
+#include "metrics.h"
+#include "utils/cloud_utils.h"
+
+namespace map_metrics {
+PYBIND11_MODULE(pybind, m) {
+  m.doc() = "Pybind metrics module";
+
+  pybindConfig(m);
+  pybindMapTree(m);
+  pybindCloudUtils(m);
+  pybindMetrics(m);
+}
+}  // namespace map_metrics

cpp/pybind/map_tree.cpp

@@ -0,0 +1,33 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#include "map_tree.h"
+
+#include <pybind11/eigen.h>
+
+#include "map_metrics/map_tree.h"
+
+namespace map_metrics {
+void pybindMapTree(py::module& m) {
+  py::module m_map_tree = m.def_submodule("map_tree", "Map Tree class");
+
+  py::class_<MapTree>(m_map_tree, "MapTree")
+      .def(py::init<Eigen::Matrix3Xd, double>(), py::arg("points"), py::arg("knn_rad"));
+}
+}  // namespace map_metrics

cpp/pybind/map_tree.h

@@ -0,0 +1,29 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#ifndef MAP_METRICS_PYBIND_MAP_TREE_H
+#define MAP_METRICS_PYBIND_MAP_TREE_H
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace map_metrics{
+void pybindMapTree(py::module& m);
+}
+#endif  // MAP_METRICS_PYBIND_MAP_TREE_H

cpp/pybind/metrics.cpp

@@ -17,54 +17,17 @@
 //       Author: Arthur Saliou
 //               arthur.salio@gmail.com
 //
-#include <vector>
-#include <Eigen/Core>
+#include "metrics.h"
 
-#include <pybind11/pybind11.h>
-#include <pybind11/eigen.h>
-#include <pybind11/stl.h>
+#include <map_metrics/metrics.h>
 
-#include <metrics.h>
-#include <orth_extract.h>
-#include <config.h>
+namespace map_metrics {
+void pybindMetrics(py::module& m) {
+  py::module m_metrics = m.def_submodule("metrics", "Map Metrics (MME, MPV, MOM)");
 
-// Python: arg0: List[numpy.ndarray[numpy.float64[3, n]]], arg1: List[numpy.ndarray[numpy.float64[4, 4]]]) -> float
-
-namespace py = pybind11;
-
-std::vector<cilantro::VectorSet3d> extract_orthogonal(
-       cilantro::VectorSet3d const & points , config::CustomConfig config, double eps=1e-1)
-{
-    return orth_extract::ExtractOrthogonalSubset(cilantro::PointCloud3d(points), config, eps);
+  m_metrics.def("MME", &MME, "Mean Map Entropy map metric", py::arg("map_tree"), py::arg("min_component_size"));
+  m_metrics.def("MPV", &MPV, "Mean Map Variance map metric", py::arg("map_tree"), py::arg("min_component_size"));
+  m_metrics.def("MOM", &MOM, "Mutually Orthogonal Metric map metric", py::arg("map_tree"),
+                py::arg("min_component_size"), py::arg("orthogonal_subset") = std::vector<Eigen::Matrix3Xd>());
 }
-
-PYBIND11_MODULE(map_metrics, m){
-    m.doc() = R"(Map-Metrics library
-A tool for evaluating the quality of odometry algorithm trajectory.)";
-
-    py::module_ mcfg = m.def_submodule("config", "Config submodule");
-
-    py::class_<config::CustomConfig>(mcfg, "CustomConfig")
-            .def(py::init<int, double, int, int>());
-
-    m.def("mpv", &metrics::GetMPV, "Mean Plane Variance trajectory metric",
-          py::arg("pcs"),
-          py::arg("poses"),
-          py::arg("config") = config::CustomConfig());
-
-    m.def("mme", &metrics::GetMME, "Mean Map Entropy trajectory metric",
-          py::arg("pcs"),
-          py::arg("poses"),
-          py::arg("config") = config::CustomConfig());
-
-    m.def("mom", &metrics::GetMOM, "Mutually Orthogonal Metric trajectory metric",
-          py::arg("pcs"),
-          py::arg("poses"),
-          py::arg("config") = config::CustomConfig(),
-          py::arg("orth_subset") = std::vector<cilantro::VectorSet3d>());
-
-    m.def("extract_orthogonal", &extract_orthogonal, "Extract orthogonal plane subset from Point Cloud",
-          py::arg("pc"),
-          py::arg("config") = config::CustomConfig(),
-          py::arg("eps") = 1e-1);
-}
+}  // namespace map_metrics

cpp/pybind/metrics.h

@@ -0,0 +1,29 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#ifndef MAP_METRICS_PYBIND_METRICS_H
+#define MAP_METRICS_PYBIND_METRICS_H
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace map_metrics {
+void pybindMetrics(py::module& m);
+}
+#endif  // MAP_METRICS_PYBIND_METRICS_H

cpp/pybind/utils/cloud_utils.cpp

@@ -0,0 +1,41 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#include "cloud_utils.h"
+
+#include <pybind11/eigen.h>
+
+#include "map_metrics/utils/cloud_utils.h"
+
+namespace map_metrics {
+void pybindCloudUtils(py::module& m) {
+  py::module m_cloud_utils = m.def_submodule("cloud_utils", "Orthogonal extraction, map composition utils");
+
+  pybindAggregateMap(m_cloud_utils);
+  pybindFindOrthogonalSubset(m_cloud_utils);
+}
+
+void pybindAggregateMap(py::module& m) {
+  m.def("aggregate_map", &aggregateMap, py::arg("point_sequence"), py::arg("poses"));
+}
+
+void pybindFindOrthogonalSubset(py::module& m) {
+  m.def("find_orthogonal_subset", &findOrthogonalSubset, py::arg("points"), py::arg("config"));
+}
+}  // namespace map_metrics

cpp/pybind/utils/cloud_utils.h

@@ -0,0 +1,33 @@
+// Copyright (c) 2022, Arthur Saliou, Anastasiia Kornilova
+//
+//  Licensed under the Apache License, Version 2.0 (the "License");
+//  you may not use this file except in compliance with the License.
+//  You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+//  Unless required by applicable law or agreed to in writing, software
+//  distributed under the License is distributed on an "AS IS" BASIS,
+//  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//  See the License for the specific language governing permissions and
+//  limitations under the License.
+//
+//
+//  Created on: May 20, 2022
+//       Author: Arthur Saliou
+//               arthur.salio@gmail.com
+//
+#ifndef MAP_METRICS_PYBIND_CLOUD_UTILS_H
+#define MAP_METRICS_PYBIND_CLOUD_UTILS_H
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace map_metrics {
+void pybindCloudUtils(py::module& m);
+
+void pybindAggregateMap(py::module& m);
+
+void pybindFindOrthogonalSubset(py::module& m);
+}  // namespace map_metrics
+#endif  // MAP_METRICS_PYBIND_CLOUD_UTILS_H