map_closures.py

# MIT License
#
# Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
# Ignacio Vizzo, Cyrill Stachniss.
#
# 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)