maplocalizer-framedposes - #12
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- implemented map autoscaling based on shared images between hloc reconstruction and metric prior model from StrayScanner (ARKit) - added new processing stage for metric alignment - transform.json: renamed GeoPose (misleading name because not OGC GeoPose) to WorldAlignmentInfo, made the geo-alignment values optional - reduce logging to console Updates to Dockerfiles: - upgrade base images - resolve clash of `USER_ID` and `GROUP_ID` with existing values in newer cuda base images - when copying hloc code, do not unpack under `/app/hloc`, because when FastAPI prepends `/app` to sys.path, `import hloc` can resolve to `/app/hloc` directory as a namespace package (no `__init__.py` at repo root) and break relative imports (e.g. `cannot import name 'logger'`) because the real hloc code is in `/app/hloc/hloc`. So now we change to `/app/Hierarchical-Localization` - use python virtual env in the container - nginx: do not log socket.io events but log everything else into a file
- comments - improved parsing of timestamps - improved parsing of accept version header Added GeoPoseProtocolExtended `oscp/geoposeprotocol_ext.py` - added SpatialDDS 1.6 types in `oscp/spatialdds_types.py ` - extended GPP in GeoPoseRequestExtended and GeoPoseResponseExtended with SpatialDDS-related extensions. Added support for multiple local FramedPoses and multiple geopose hypotheses. Further extensions with CoordConvention (SpatialDDS 1.6) and CoordScale (new) Improvements in MapLocalizer: - can return multiple GeoPoses and multiple FramedPoses, if available - maxLoadedMaps setting for managing loaded maps; - added LRU cache for loaded maps; - added health check endpoints; - added x-openvps-map-id optional request header for localization in a specific map - extended map transform.json with optional FrameRef, CoordConvention, CoordScale, bundle all alignment variables in MapTransformInfo - more detailed error responses Dockerfile improvements: - update base image - when copying hloc code, do not unpack under `/app/hloc`, because when FastAPI prepends `/app` to sys.path, `import hloc` can resolve to `/app/hloc` directory as a namespace package (no `__init__.py` at repo root) and break relative imports (e.g. `cannot import name 'logger'`) because the real hloc code is in `/app/hloc/hloc`. So now we change to `/app/Hierarchical-Localization` - use python virtual env in the container MapAligner: - update base image
…ligner), do not overwrite the whole matrix but only change its scale
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Improvements in GeoPoseProtocol
oscp/geoposeprotocol.pyAdded GeoPoseProtocolExtended
oscp/geoposeprotocol_ext.pyoscp/spatialdds_types.pyImprovements in MapLocalizer:
Dockerfile improvements:
/app/hloc, because when FastAPI prepends/appto sys.path,import hloccan resolve to/app/hlocdirectory as a namespace package (no__init__.pyat repo root) and break relative imports (e.g.cannot import name 'logger') because the real hloc code is in/app/hloc/hloc. So now we change to/app/Hierarchical-LocalizationMapAligner: