Rename package to ROSE

.conda_config

@@ -1 +1 @@
-wheel2
+rose

CMakeLists.txt

@@ -1,6 +1,6 @@
 #################### BASIC SETUP ####################
 cmake_minimum_required(VERSION 3.16)
-project(RobustVIO VERSION 0.1 LANGUAGES CXX)
+project(ROSE VERSION 0.1 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 

exe/CMakeLists.txt

@@ -2,4 +2,4 @@ cmake_minimum_required(VERSION 3.16)
 
 #################### ADD EXECUTABLES ####################
 add_executable(experiment experiment.cpp)
-target_link_libraries(experiment PRIVATE robust gtsam jrl ${Boost_LIBRARIES})
+target_link_libraries(experiment PRIVATE rose gtsam jrl ${Boost_LIBRARIES})

exe/experiment.cpp

@@ -39,7 +39,7 @@ po::variables_map handle_args(int argc, const char *argv[]) {
 
     // Handle help special case
     if (var_map.count("help") || argc == 1) {
-        std::cout << "run-experiment: Main entry point to run robust VIO methods on JRL datasets. Please provide "
+        std::cout << "run-experiment: Main entry point to run rose methods on JRL datasets. Please provide "
                      "required arguments: "
                   << std::endl;
         std::cout << options << "\n";
@@ -142,7 +142,7 @@ int main(int argc, const char *argv[]) {
 
     // Load in data
     bool use_cbor = (data_path.find("cbor") != std::string::npos);
-    jrl::Parser parser = makeRobustParser();
+    jrl::Parser parser = makeRoseParser();
     jrl::Dataset dataset = parser.parseDataset(data_path, use_cbor);
 
     // Make backend

figures/header.py

@@ -5,13 +5,13 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import rasterio
-import robust.jrl
-import robust.plot as plot
+import rose.jrl
+import rose.plot as plot
 import seaborn as sns
 from rasterio.warp import Resampling, calculate_default_transform, reproject
-from robust.dataset import Dataset2JRL, Sensor
-from robust.flat import FlatDataset
-from robust.sabercat import SabercatBag
+from rose.dataset import Dataset2JRL, Sensor
+from rose.flat import FlatDataset
+from rose.sabercat import SabercatBag
 
 if __name__ == "__main__":
     traj = "all_2024-02-09-14-08-29"
@@ -71,7 +71,7 @@
     results = {}
     for name, filename in types.items():
         values = (
-            robust.jrl.makeRobustParser()
+            rose.jrl.makeRoseParser()
             .parseResults(str(RESULTS / filename), False)
             .robot_solutions["a"]
             .values

figures/monte_carlo.py

@@ -1,9 +1,9 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
-import robust.plot as plot
+import rose.plot as plot
 import seaborn as sns
-from robust.robust_python import (
+from rose.rose_python import (
     WheelCovIntrSlipTag,
     WheelCovSlipTag,
     WheelCovTag,

figures/sabercat_results.py

@@ -7,8 +7,8 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
-import robust.jrl
-import robust.plot as plot
+import rose.jrl
+import rose.plot as plot
 import seaborn as sns
 from gtsam.symbol_shorthand import X
 from tabulate import tabulate
@@ -50,7 +50,7 @@ def compute_traj_length(values: gtsam.Values):
     args = parser.parse_args()
 
     # ------------------------- Load gt values ------------------------- #
-    jrl_parser = robust.jrl.makeRobustParser()
+    jrl_parser = rose.jrl.makeRoseParser()
 
     trajs = {}
 

figures/sim.py

@@ -2,12 +2,12 @@
 
 import jrl
 import matplotlib.pyplot as plt
-import robust.jrl
-import robust.plot as plot
+import rose.jrl
+import rose.plot as plot
 import seaborn as sns
 from matplotlib.patches import ConnectionPatch, Rectangle
 from mpl_toolkits.axes_grid1.inset_locator import mark_inset
-from robust.robust_python import WheelCovIntrSlipTag
+from rose.rose_python import WheelCovIntrSlipTag
 
 
 # https://stackoverflow.com/a/73308476
@@ -43,7 +43,7 @@ def indicate_inset(axin, axout, arrow_start=(0, 0), arrow_end=(0, 0)):
     # ------------------------- Load all data ------------------------- #
     tags_to_names = plot.tags_to_names()
     result_files = [p for p in Path("figures/data").glob("*.jrr")]
-    jrl_parser = robust.jrl.makeRobustParser()
+    jrl_parser = rose.jrl.makeRoseParser()
 
     results = {}
     for p in result_files:

figures/surface.py

@@ -3,12 +3,12 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
-import robust.plot
+import rose.plot
 import seaborn as sns
 import sympy as sy
 from gtsam.symbol_shorthand import B, I, L, S
-from robust.dataset import Dataset2JRL, Sensor, WheelNoise
-from robust.sim import SimParameters, Simulation, symp
+from rose.dataset import Dataset2JRL, Sensor, WheelNoise
+from rose.sim import SimParameters, Simulation, symp
 from tabulate import tabulate
 from tqdm import tqdm, trange
 
@@ -45,8 +45,8 @@ def compute_traj_length(values: gtsam.Values):
     gt = dataset.get_ground_truth()
 
     # ------------------------- Plot 3D Grid ------------------------- #
-    c = robust.plot.setup_plot()
-    state = robust.plot.load_full_state(gt, dataset.N, pandas=False)
+    c = rose.plot.setup_plot()
+    state = rose.plot.load_full_state(gt, dataset.N, pandas=False)
 
     # Load data
     x = np.linspace(-5, state[:, 3].max() + 5)
@@ -75,7 +75,7 @@ def compute_traj_length(values: gtsam.Values):
         lw=0.01,
         cmap=sns.color_palette("crest", as_cmap=True),
     )
-    black = c[robust.plot.WheelType.GT.value]
+    black = c[rose.plot.WheelType.GT.value]
     ax.plot(state[:, 3], state[:, 4], state[:, 5] - minZ, lw=3, c=black)
 
     # This changes the aspect ratio by changing the axis-box size (rather than  just the limits)

figures/tukey.py

@@ -1,7 +1,7 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import seaborn as sns
-from robust.plot import setup_plot
+from rose.plot import setup_plot
 
 c = setup_plot()
 c = sns.color_palette("colorblind")

include/backend/JRL.h

@@ -14,7 +14,7 @@
 static const std::string PriorFactorIntrinsicsTag = "PriorFactorIntrinsics";
 
 // ------------------------- Register Custom Options ------------------------- //
-inline jrl::Parser makeRobustParser() {
+inline jrl::Parser makeRoseParser() {
     jrl::Parser parser;
 
     // clang-format off
@@ -35,7 +35,7 @@ inline jrl::Parser makeRobustParser() {
     return parser;
 }
 
-inline jrl::Writer makeRobustWriter() {
+inline jrl::Writer makeRoseWriter() {
     jrl::Writer writer;
 
     // clang-format off

python/CMakeLists.txt

@@ -19,33 +19,33 @@ set(PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
 # TODO: README?
 configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
                 ${PYTHON_BUILD_DIRECTORY}/setup.py)
-create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/robust" "${PYTHON_BUILD_DIRECTORY}/robust")
+create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/rose" "${PYTHON_BUILD_DIRECTORY}/rose")
 
 # ------------------------- Setup pybind target ------------------------- #
-pybind11_add_module(robust_python bindings.cpp)
-target_link_libraries(robust_python PUBLIC robust)
-target_include_directories(robust_python PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+pybind11_add_module(rose_python bindings.cpp)
+target_link_libraries(rose_python PUBLIC rose)
+target_include_directories(rose_python PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 
-set_target_properties(robust_python PROPERTIES
+set_target_properties(rose_python PROPERTIES
   INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
   INSTALL_RPATH_USE_LINK_PATH TRUE
-  OUTPUT_NAME "robust_python"
-  LIBRARY_OUTPUT_DIRECTORY "${PYTHON_BUILD_DIRECTORY}/robust"
+  OUTPUT_NAME "rose_python"
+  LIBRARY_OUTPUT_DIRECTORY "${PYTHON_BUILD_DIRECTORY}/rose"
   DEBUG_POSTFIX "" # Otherwise you will have a wrong name
   RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
 )
-target_compile_features(robust_python PUBLIC cxx_std_17)
+target_compile_features(rose_python PUBLIC cxx_std_17)
 
 # ------------------------- Setup Python install instructions ------------------------- #
 
 # Setup the install command. Simply delegates to pip (should work with environmets)
 find_package(Python COMPONENTS Interpreter Development REQUIRED)
 add_custom_target(python-install
         COMMAND ${Python_EXECUTABLE} -m pip install -e .
-        DEPENDS robust_python
+        DEPENDS rose_python
         WORKING_DIRECTORY ${JRL_PYTHON_BUILD_DIRECTORY})
 
 # Setup uninstall command. This can also be done with pip
 add_custom_target(python-uninstall
-        COMMAND pip uninstall robust
+        COMMAND pip uninstall rose
         WORKING_DIRECTORY ${JRL_PYTHON_BUILD_DIRECTORY})

python/bindings.cpp

@@ -19,7 +19,7 @@ using namespace pybind11::literals;
 PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, boost::shared_ptr<TYPE_PLACEHOLDER_DONOTUSE>);
 PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, std::shared_ptr<TYPE_PLACEHOLDER_DONOTUSE>);
 
-PYBIND11_MODULE(robust_python, m) {
+PYBIND11_MODULE(rose_python, m) {
     // Import gtsam to ensure that python has access to return types
     py::module gtsam = py::module::import("gtsam");
     py::module jrl = py::module::import("jrl");
@@ -34,8 +34,8 @@ PYBIND11_MODULE(robust_python, m) {
     m.attr("PlanarPriorTag") = py::str(PlanarPriorTag);
     m.attr("ZPriorTag") = py::str(ZPriorTag);
 
-    m.def("makeRobustParser", makeRobustParser);
-    m.def("makeRobustWriter", makeRobustWriter);
+    m.def("makeRoseParser", makeRoseParser);
+    m.def("makeRoseWriter", makeRoseWriter);
 
     // ------------------------- Frontend ------------------------- //
     py::class_<JRLFrontend, boost::shared_ptr<JRLFrontend>>(m, "JRLFrontend")

python/rose/__init__.py

@@ -0,0 +1,4 @@
+from .datasets.flat import FlatDataset
+from .datasets.grizzly import GrizzlyBag
+from .datasets.sabercat import SabercatBag
+from .datasets.kaist import KaistDataset

python/robust/dataset.py → python/rose/dataset.py

@@ -12,13 +12,13 @@
 import numpy as np
 import yaml
 from gtsam.symbol_shorthand import B, I, L, M, S, V, W, X
-from robust.jrl import (
-    makeRobustParser,
-    makeRobustWriter,
+from rose.jrl import (
+    makeRoseParser,
+    makeRoseWriter,
     values2results,
     values2typedvalues,
 )
-from robust.robust_python import (
+from rose.rose_python import (
     PlanarPriorFactor,
     PlanarPriorTag,
     PreintegratedWheelCov,
@@ -703,8 +703,8 @@ def __init__(self, data: Dataset, N: int = None) -> None:
             Sensor.FEAT: self._feat_factor,
         }
 
-        self.writer = makeRobustWriter()
-        self.parser = makeRobustParser()
+        self.writer = makeRoseWriter()
+        self.parser = makeRoseParser()
 
         # Things that should be updated as we go
         self.traj = {}

python/robust/flat.py → python/rose/datasets/flat.py

@@ -9,7 +9,7 @@
 import gtsam
 import numpy as np
 import yaml
-from robust.dataset import (
+from rose.dataset import (
     BaseData,
     BaseIntrinsics,
     BaseNoise,
@@ -26,7 +26,7 @@
     WheelIntrinsics,
     WheelNoise,
 )
-from robust.robust_python import PreintegratedWheelParams
+from rose.rose_python import PreintegratedWheelParams
 
 
 class FlatDataset(Dataset):

python/robust/grizzly.py → python/rose/datasets/grizzly.py

@@ -11,7 +11,13 @@
 import yourdfpy
 from cv_bridge import CvBridge
 
-from .dataset import CameraIntrinsics, CamNoise, IMUNoise, WheelIntrinsics, WheelNoise
+from rose.dataset import (
+    CameraIntrinsics,
+    CamNoise,
+    IMUNoise,
+    WheelIntrinsics,
+    WheelNoise,
+)
 
 URDF_DIR = os.environ["URDF_DIR"]
 SCALE = 672 / 5376

python/robust/kaist.py → python/rose/datasets/kaist.py

@@ -7,7 +7,7 @@
 import cv2
 import gtsam
 import numpy as np
-from robust.dataset import (
+from rose.dataset import (
     BaseIntrinsics,
     BaseNoise,
     CameraData,
@@ -22,7 +22,7 @@
     WheelIntrinsics,
     WheelNoise,
 )
-from robust.robust_python import PreintegratedWheelParams
+from rose.rose_python import PreintegratedWheelParams
 
 # https://www.xsens.com/hubfs/Downloads/Leaflets/MTi-300.pdf
 SIGMA_A = 60 * (1 / 10**6) * (1 / 9.81)
@@ -251,9 +251,7 @@ def data(self, sensor: Sensor) -> Union[IMUData, CameraData, GTData, WheelData]:
             )
 
     @functools.cache
-    def noise(
-        self, sensor: Sensor
-    ) -> Union[
+    def noise(self, sensor: Sensor) -> Union[
         gtsam.PreintegratedCombinedMeasurements,
         gtsam.noiseModel.Base,
         PreintegratedWheelParams,

python/robust/sabercat.py → python/rose/datasets/sabercat.py

@@ -11,7 +11,7 @@
 import yourdfpy
 from cv_bridge import CvBridge
 
-from .dataset import (
+from rose.dataset import (
     CameraIntrinsics,
     CamNoise,
     IMUNoise,

python/robust/jrl.py → python/rose/jrl.py

@@ -1,11 +1,11 @@
 import gtsam
 import jrl
 
-# ------------------------- Import according cpp helpers as well ------------------------- #
-from robust.robust_python import makeRobustParser, makeRobustWriter
-
 
 # ------------------------- Helpers for Wrapping GTSAM containers ------------------------- #
+from rose.rose_python import makeRoseParser, makeRoseWriter
+
+
 def values2results(
     values: gtsam.Values, name: str = "", dataset: str = ""
 ) -> jrl.Results:

python/robust/plot.py → python/rose/plot.py

@@ -10,7 +10,7 @@
 import seaborn as sns
 from gtsam.symbol_shorthand import B, I, M, S, V, X
 from matplotlib.lines import Line2D
-from robust.robust_python import WheelCovIntrSlipTag, WheelCovTag, WheelDangTag
+from rose.rose_python import WheelCovIntrSlipTag, WheelCovTag, WheelDangTag
 
 
 # https://stackoverflow.com/a/43343934

python/robust/sim.py → python/rose/sim.py

@@ -8,7 +8,7 @@
 import sympy as sy
 from gtsam.symbol_shorthand import L, M, X
 from gtsam.utils.plot import set_axes_equal
-from robust.dataset import (
+from rose.dataset import (
     CameraData,
     CamNoise,
     FeatData,