Docs: add 3rd party LO wrapper modules

docs/source/index.rst

@@ -26,6 +26,7 @@ MOLA
   mola_lidar_odometry
   mola_lo_apps
   mola_lo_pipelines
+  wrappers_3rd_party
 
 .. toctree::
   :maxdepth: 2
@@ -241,7 +242,7 @@ How to install all MOLA modules:
     .. code-block:: bash
 
         cd ~/ros2_mola_ws/
-        colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+        colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
 
 
     Next, activate the new environment and check if all new modules are visible:

docs/source/refs.bib

@@ -73,7 +73,6 @@ @article{blanco2018olae
   bibsource    = {dblp computer science bibliography, https://dblp.org}
 }
 
-
 @article{geiger2013vision,
   title={Vision meets robotics: The kitti dataset},
   author={Geiger, Andreas and Lenz, Philip and Stiller, Christoph and Urtasun, Raquel},
@@ -84,3 +83,23 @@ @article{geiger2013vision
   year={2013},
   publisher={Sage Publications Sage UK: London, England}
 }
+
+@article{vizzo2023kiss,
+  title={Kiss-icp: In defense of point-to-point icp--simple, accurate, and robust registration if done the right way},
+  author={Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},
+  journal={IEEE Robotics and Automation Letters},
+  volume={8},
+  number={2},
+  pages={1029--1036},
+  year={2023},
+  publisher={IEEE}
+}
+
+@article{bhandari2024minimal,
+  title={Minimal configuration point cloud odometry and mapping},
+  author={Bhandari, Vedant and Phillips, Tyson Govan and McAree, Peter Ross},
+  journal={The International Journal of Robotics Research},
+  pages={02783649241235325},
+  year={2024},
+  publisher={SAGE Publications Sage UK: London, England}
+}

docs/source/wrappers_3rd_party.rst

@@ -0,0 +1,221 @@
+.. _wrappers_3rd_party:
+
+======================
+3rd-party wrappers
+======================
+For the sake of scientific comparison between different methods, we provide wrappers of
+other LiDAR odometry methods that mimic the interface of :ref:`mola-lidar-odometry-cli <mola_lidar_odometry_cli>`,
+so exactly the same input datasets can be processed by different methods.
+
+____________________________________________
+
+|
+
+KISS-ICP
+--------------------------------------
+Wrapper for the work :cite:`vizzo2023kiss`.
+
+Repository: https://github.com/MOLAorg/mola_kiss_icp_wrapper
+
+.. dropdown:: Compile instructions
+   :icon: code-square
+
+   Clone in your ROS 2 workspace:
+
+   .. code-block:: bash
+
+      mkdir -p ~/ros2_mola_ws/src/
+      cd ~/ros2_mola_ws/src/
+
+      git clone https://github.com/MOLAorg/mola_kiss_icp_wrapper.git --recursive
+
+   Install dependencies:
+
+   .. code-block:: bash
+
+      cd ~/ros2_mola_ws/
+      rosdep install --from-paths src --ignore-src -r -y
+
+   Compile:
+
+   .. code-block:: bash
+
+      cd ~/ros2_mola_ws/
+      colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+
+.. dropdown:: CLI reference
+   :icon: checklist
+
+   .. code-block:: bash
+
+      USAGE:
+
+         mola-lidar-odometry-cli-kiss  [--input-mulran-seq <KAIST01>]
+                                       [--kitti-correction-angle-deg <0.205
+                                       [degrees]>] [--input-kitti-seq <00>]
+                                       [--lidar-sensor-label <>] [--input-rosbag2
+                                       <dataset.mcap>] [--input-rawlog
+                                       <dataset.rawlog>] [--only-first-n <Number
+                                       of dataset entries to run>] [--no-deskew]
+                                       [--output-tum-path
+                                       <output-trajectory.txt>] [--max-range
+                                       <max-range>] [--min-range <min-range>]
+                                       [--] [--version] [-h]
+
+
+      Where: 
+
+         --input-mulran-seq <KAIST01>
+         INPUT DATASET: Use Mulran dataset sequence KAIST01|KAIST01|...
+
+         --kitti-correction-angle-deg <0.205 [degrees]>
+         Correction vertical angle offset (see Deschaud,2018)
+
+         --input-kitti-seq <00>
+         INPUT DATASET: Use KITTI dataset sequence number 00|01|...
+
+         --lidar-sensor-label <>
+         If provided, this supersedes the values in the 'lidar_sensor_labels'
+         entry of the odometry pipeline, defining the sensorLabel/topic name to
+         read LIDAR data from. It can be a regular expression (std::regex)
+
+         --input-rosbag2 <dataset.mcap>
+         INPUT DATASET: rosbag2. Input dataset in rosbag2 format (*.mcap)
+
+         --input-rawlog <dataset.rawlog>
+         INPUT DATASET: rawlog. Input dataset in rawlog format (*.rawlog)
+
+         --only-first-n <Number of dataset entries to run>
+         Run for the first N steps only (0=default, not used)
+
+         --no-deskew
+         Skip scan de-skew
+
+         --output-tum-path <output-trajectory.txt>
+         Save the estimated path as a TXT file using the TUM file format (see
+         evo docs)
+
+         --max-range <max-range>
+         max-range parameter
+
+         --min-range <min-range>
+         min-range parameter
+
+         --,  --ignore_rest
+         Ignores the rest of the labeled arguments following this flag.
+
+         --version
+         Displays version information and exits.
+
+         -h,  --help
+         Displays usage information and exits.
+
+
+         mola-lidar-odometry-cli-kiss
+
+
+|
+
+
+SiMpLE
+--------------------------------------
+Wrapper for the work :cite:`bhandari2024minimal`.
+
+Repository: https://github.com/MOLAorg/mola_simple_wrapper
+
+.. dropdown:: Compile instructions
+   :icon: code-square
+
+   Clone in your ROS 2 workspace:
+
+   .. code-block:: bash
+
+      mkdir -p ~/ros2_mola_ws/src/
+      cd ~/ros2_mola_ws/src/
+
+      git clone https://github.com/MOLAorg/mola_simple_wrapper.git --recursive
+
+   Install dependencies:
+
+   .. code-block:: bash
+
+      cd ~/ros2_mola_ws/
+      rosdep install --from-paths src --ignore-src -r -y
+
+   Compile:
+
+   .. code-block:: bash
+
+      cd ~/ros2_mola_ws/
+      colcon  build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
+
+.. dropdown:: CLI reference
+   :icon: checklist
+
+   .. code-block:: bash
+
+      USAGE: 
+
+         mola-lidar-odometry-cli-simple  [--input-paris-luco] [--input-mulran-seq
+                                       <KAIST01>] [--input-kitti360-seq <00>]
+                                       [--kitti-correction-angle-deg <0.205
+                                       [degrees]>] [--input-kitti-seq <00>]
+                                       [--lidar-sensor-label <lidar1>]
+                                       [--input-rosbag2 <dataset.mcap>]
+                                       [--input-rawlog <dataset.rawlog>]
+                                       [--only-first-n <Number of dataset
+                                       entries to run>] [--output-tum-path
+                                       <output-trajectory.txt>] -c
+                                       <config.yaml> [--] [--version] [-h]
+
+
+      Where: 
+
+         --input-paris-luco
+         INPUT DATASET: Use Paris Luco dataset (unique sequence=00)
+
+         --input-mulran-seq <KAIST01>
+         INPUT DATASET: Use Mulran dataset sequence KAIST01|KAIST01|...
+
+         --input-kitti360-seq <00>
+         INPUT DATASET: Use KITTI360 dataset sequence number 00|01|...
+
+         --kitti-correction-angle-deg <0.205 [degrees]>
+         Correction vertical angle offset (see Deschaud,2018)
+
+         --input-kitti-seq <00>
+         INPUT DATASET: Use KITTI dataset sequence number 00|01|...
+
+         --lidar-sensor-label <lidar1>
+         If provided, this supersedes the values in the 'lidar_sensor_labels'
+         entry of the odometry pipeline, defining the sensorLabel/topic name to
+         read LIDAR data from. It can be a regular expression (std::regex)
+
+         --input-rosbag2 <dataset.mcap>
+         INPUT DATASET: rosbag2. Input dataset in rosbag2 format (*.mcap)
+
+         --input-rawlog <dataset.rawlog>
+         INPUT DATASET: rawlog. Input dataset in rawlog format (*.rawlog)
+
+         --only-first-n <Number of dataset entries to run>
+         Run for the first N steps only (0=default, not used)
+
+         --output-tum-path <output-trajectory.txt>
+         Save the estimated path as a TXT file using the TUM file format (see
+         evo docs)
+
+         -c <config.yaml>,  --config-file <config.yaml>
+         (required)  Simple config file
+
+         --,  --ignore_rest
+         Ignores the rest of the labeled arguments following this flag.
+
+         --version
+         Displays version information and exits.
+
+         -h,  --help
+         Displays usage information and exits.
+
+
+         mola-lidar-odometry-cli-simple
+