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‎.clang-format‎

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BasedOnStyle: Google
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UseTab: Never
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IndentWidth: 4
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AccessModifierOffset: -4
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ColumnLimit: 100
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BinPackParameters: false
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SortIncludes: true
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Standard: c++17
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DerivePointerAlignment: false
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PointerAlignment: Right

‎.cmake-format.yaml‎

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enable_markup: false
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line_width: 120
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format:
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max_subgroups_hwrap: 5

‎.gitignore‎

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build/
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install/
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log/
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results/
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wheelhouse/
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_skbuild/
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.gitlab-ci-local/
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# Created by https://www.toptal.com/developers/gitignore/api/python,c++
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# Edit at https://www.toptal.com/developers/gitignore?templates=python,c++
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### C++ ###
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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coverage.xml
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*.cover
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*.py,cover
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.hypothesis/
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.pytest_cache/
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cover/
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# PyBuilder
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.pybuilder/
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# Environments
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.env
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.venv
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env/
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venv/
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ENV/
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env.bak/
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venv.bak/
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### Python ###
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
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__pypackages__/
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# pytype static type analyzer
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.pytype/
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# VSCode
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.vscode

‎.gitlab-ci.yml‎

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stages:
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- format
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- build
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cache:
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paths:
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- .cache/pip
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#----- format stage --------------------------------------------------------------------------------
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black:
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image: python:3.8
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stage: format
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before_script:
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- pip install black
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script:
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- black --line-length 100 --check $CI_PROJECT_DIR
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clang-format:
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image: ubuntu:22.04
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stage: format
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before_script:
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- apt-get update && apt-get install --no-install-recommends -y clang-format
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script:
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- clang-format -Werror --dry-run $(find . -regextype posix-extended -regex ".*\.(cpp|hpp|h)")
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#----- build stage ---------------------------------------------------------------------------------
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cpp:
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image: gitlab.ipb.uni-bonn.de:4567/ssg1002/map_closures:latest
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stage: build
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script:
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make cpp
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pip_package:
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image: gitlab.ipb.uni-bonn.de:4567/ssg1002/map_closures:latest
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stage: build
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script:
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- VERBOSE=1 pip install --verbose ./python/
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- map_closure_pipeline --version

‎.pre-commit-config.yaml‎

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repos:
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.4.0
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hooks:
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- id: trailing-whitespace
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- id: end-of-file-fixer
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- id: check-yaml
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- id: check-added-large-files
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v14.0.0
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hooks:
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- id: clang-format
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- repo: https://github.com/psf/black
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rev: 23.1.0
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hooks:
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- id: black
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args: [--config=python/pyproject.toml]
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- repo: https://github.com/ahans/cmake-format-precommit
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rev: 8e52fb6506f169dddfaa87f88600d765fca48386
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hooks:
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- id: cmake-format
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- repo: https://github.com/pycqa/isort
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rev: 5.12.0
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hooks:
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- id: isort
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args: ["--settings-path=python/pyproject.toml"]

‎LICENSE‎

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MIT License
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Copyright (c) 2024 Photogrammetry & Robotics Bonn
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Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
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Ignacio Vizzo, Cyrill Stachniss.
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎Makefile‎

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.PHONY: cpp
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install:
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@pip install --verbose ./python/
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uninstall:
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@pip -v uninstall map-closures
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editable:
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@pip install scikit-build-core pyproject_metadata pathspec pybind11 ninja cmake
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@pip install --no-build-isolation -ve ./python/
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cpp:
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@cmake -Bbuild cpp/map_closures/
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@cmake --build build -j$(nproc --all)

‎config/README.md‎

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‎config/basic_config.yaml‎

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density_map_resolution: 0.5
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density_threshold: 0.05
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hamming_distance_threshold: 50
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inliers_threshold: 10
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local_map_factor: 0.6 # Local Map size as a multiple of the maximum range of the LiDAR

‎cpp/map_closures/CMakeLists.txt‎

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# MIT License
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#
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# Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
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# Ignacio Vizzo, Cyrill Stachniss.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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cmake_minimum_required(VERSION 3.16...3.26)
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project(map_closures_cpp VERSION 0.1.0 LANGUAGES CXX)
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option(USE_CCACHE "Build using Ccache if found on the path" ON)
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option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
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# ccache setup
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if(USE_CCACHE)
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find_program(CCACHE_PATH ccache)
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if(CCACHE_PATH)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
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message(STATUS "Using ccache: ${CCACHE_PATH}")
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endif()
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endif()
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set(CMAKE_BUILD_TYPE Release)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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include(thirdparty/find_dependencies.cmake)
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include(cmake/CompilerOptions.cmake)
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add_subdirectory(core)
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add_subdirectory(pipeline)

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