Map-closures

What's Changed
* Bump kiss-icp to 1.2 by benemer in https://github.com/PRBonn/MapClosures/pull/57
* pybind ground align api separately by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/59
* Fix Ground Alignment Indoors by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/60
* bump version for new release by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/61


**Full Changelog**: https://github.com/PRBonn/MapClosures/compare/v2.0.0...v2.0.1

What's Changed
* Features/ground align and pruning by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/55

Major API Breaking changes
1. **No `match_and_add` function now!!**
2. Instead, [`get_closures`, `get_best_closure` and `get_top_k_closures`](https://github.com/PRBonn/MapClosures/blob/main/python/map_closures/map_closures.py) available, performing same functions as their name suggests.

The following new features are added:
1. A [Ground Alignment module](https://github.com/PRBonn/MapClosures/blob/main/cpp/map_closures/GroundAlign.cpp) which aligns each local map's physical ground-plane to its xy-plane.
4. A [feature pruning step](https://github.com/PRBonn/MapClosures/blob/4a2ad69d4617fa0eaf0fa2631388b5b3b35ed8ec/cpp/map_closures/MapClosures.cpp#L94) based on the self-similarity of ORB feature descriptors.

The other minor changes are:
1. Modify [`DensityMap`](https://github.com/PRBonn/MapClosures/blob/eef1d23533755588c4ad9e108d5441391a07bf7e/cpp/map_closures/DensityMap.cpp) 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](https://github.com/PRBonn/MapClosures/releases) of this repo)

**Full Changelog**: https://github.com/PRBonn/MapClosures/compare/v1.0.1...v2.0.0

NOW AVAILABLE: `pip install map-closures`
What's Changed
* Move the ground truth closure computation to C++ by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/32
* Add GitHub actions by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/43
* Add Git attributes by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/45
* Fix for Saving Evaluation Metrics in Loop Closure Pipeline by jlaserna in https://github.com/PRBonn/MapClosures/pull/47
* remove strict requirement on kiss-icp version by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/50
* Make into pypi package with macos and windows support by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/51
* Fixes the missing artifacts by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/53
* Gupta/fix artifacts downloading by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/54

New Contributors
* jlaserna made their first contribution in https://github.com/PRBonn/MapClosures/pull/47

**Full Changelog**: https://github.com/PRBonn/MapClosures/compare/v1.0.0...v1.0.1

What's Changed
* Proper path for client code usage of the C++ library by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/17
* Upgrade versions to match new release by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/18
* Patch cmake bug fix from KISS by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/19
* fix bug, refactor code by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/21
* Add Visualizer for the pipeline by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/22
* Cleanup python API by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/25
* Make relevant changes for kiss-icp v1.0.0 by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/26
* Add instructions to use MapClosures C++ API by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/28
* Fix bug in closure candidate indices by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/30
* Visualizer based on Polyscope by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/29
* Rework folder structure for visualizer by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/31
* add global view option to local map visualizer by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/36
* bump version by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/38

**Full Changelog**: https://github.com/PRBonn/MapClosures/compare/v0.2.0...v1.0.0

What's Changed
* alignment of parameters between languages, typo fix by ga58lar in https://github.com/PRBonn/MapClosures/pull/4
* Clean custom types and build system by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/5
* Fix runtime errors, fix typo, add dockerfile by changh95 in https://github.com/PRBonn/MapClosures/pull/3
* Clean more, clean more, clean more by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/7
* Handle no sequence id dataset (and decrease Cmake version to 3.22) by bexcite in https://github.com/PRBonn/MapClosures/pull/8
* Update dependencies by benemer in https://github.com/PRBonn/MapClosures/pull/9
* Do some renaming work by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/10
* Fix broken pipeline after 10 by saurabh1002 in https://github.com/PRBonn/MapClosures/pull/11
* Try to rework the API for the CPP and python side by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/12
* Disclaimer on paper results by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/13
* Rework folder structure by tizianoGuadagnino in https://github.com/PRBonn/MapClosures/pull/14
* Use typing_extensions by benemer in https://github.com/PRBonn/MapClosures/pull/15
* make opencv fetch content-able by mehermvr in https://github.com/PRBonn/MapClosures/pull/16

New Contributors
* ga58lar made their first contribution in https://github.com/PRBonn/MapClosures/pull/4
* tizianoGuadagnino made their first contribution in https://github.com/PRBonn/MapClosures/pull/5
* changh95 made their first contribution in https://github.com/PRBonn/MapClosures/pull/3
* bexcite made their first contribution in https://github.com/PRBonn/MapClosures/pull/8
* benemer made their first contribution in https://github.com/PRBonn/MapClosures/pull/9
* saurabh1002 made their first contribution in https://github.com/PRBonn/MapClosures/pull/10
* mehermvr made their first contribution in https://github.com/PRBonn/MapClosures/pull/16

**Full Changelog**: https://github.com/PRBonn/MapClosures/compare/v0.1.0...v0.2.0

📰: BETA-release

We are releasing the code for the ICRA2024 paper titled [Effectively Detecting Loop Closures using Point Cloud Density Maps](https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/gupta2024icra.pdf).

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


To get started: