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PRBonn / MapClosures Public

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Refactor and optimize alignment and density map code#114

Merged

saurabh1002 merged 22 commits into

mainPRBonn/MapClosures:mainfrom

gupta2026ijrrPRBonn/MapClosures:gupta2026ijrrCopy head branch name to clipboard

Apr 27, 2026

Conversation Commits22 (22)Checks Files changed

Merged

Refactor and optimize alignment and density map code#114
saurabh1002 merged 22 commits into
mainfrom
gupta2026ijrr

Commits

Commits on Apr 23, 2026

clean up RANSAC alignment code
saurabh1002
committed
clean up density map code
saurabh1002
committed
clean up ground alignment code
saurabh1002
committed

Commits on Apr 24, 2026

understand and try to use RVO, NRVO
saurabh1002
committed
optimize code further, remove shrink_to_fits to avoid reallocations
saurabh1002
committed
add divide by zero guards
saurabh1002
committed
fix helipr dataloader
saurabh1002
committed
fix pipeline
saurabh1002
committed

Commits on Apr 27, 2026

remove in-loop transformation of pointcloud
saurabh1002
committed
minor fixes
saurabh1002
committed
bumpy python version
saurabh1002
committed
remove use of pyquaternion library, not maintained regularly
saurabh1002
committed
fix pyproject toml configs for deps, make python>=3.10
saurabh1002
committed
modify licenses
saurabh1002
committed
remove some constexprs, not working with appleclang compiler
saurabh1002
committed
fix std::nth_element edge case

saurabh1002
and
Copilot
authored
log the results to file

saurabh1002
and
Copilot
authored
Add missing #include <functional> to AlignRansac2D.cpp

Copilot
and
saurabh1002
authored
fix issue with vector6d init

saurabh1002
and
Copilot
authored
Add early return in AlignToLocalGround when ground_samples is empty

Copilot
and
saurabh1002
authored
fix refs, fix formatting
saurabh1002
committed
Move open3d import inside get_ply_data to avoid unconditional optional dependency

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saurabh1002
authored

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