Initial Commit

.clang-format

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

.cmake-format.yaml

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+enable_markup: false
+line_width: 120
+format:
+  max_subgroups_hwrap: 5

.gitignore

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

.gitlab-ci.yml

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

.pre-commit-config.yaml

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

LICENSE

@@ -1,6 +1,7 @@
 MIT License
 
-Copyright (c) 2024 Photogrammetry & Robotics Bonn
+Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
+Ignacio Vizzo, Cyrill Stachniss.
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

Makefile

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

config/basic_config.yaml

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+density_map_resolution: 0.5
+density_threshold: 0.05
+hamming_distance_threshold: 50
+inliers_threshold: 10
+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
+#
+# Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
+# Ignacio Vizzo, Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+cmake_minimum_required(VERSION 3.16...3.26)
+project(map_closures_cpp VERSION 0.1.0 LANGUAGES CXX)
+
+option(USE_CCACHE "Build using Ccache if found on the path" ON)
+option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)
+
+# ccache setup
+if(USE_CCACHE)
+  find_program(CCACHE_PATH ccache)
+  if(CCACHE_PATH)
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
+    message(STATUS "Using ccache: ${CCACHE_PATH}")
+  endif()
+endif()
+
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+include(thirdparty/find_dependencies.cmake)
+include(cmake/CompilerOptions.cmake)
+
+add_subdirectory(core)
+add_subdirectory(pipeline)

cpp/map_closures/LICENSE

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+MIT License
+
+Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
+Ignacio Vizzo, Cyrill Stachniss.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

cpp/map_closures/cmake/CompilerOptions.cmake

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+# MIT License
+#
+# Copyright (c) 2024 Saurabh Gupta, Tiziano Guadagnino, Benedikt Mersch,
+# Ignacio Vizzo, Cyrill Stachniss.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+function(set_global_target_properties target)
+  target_compile_features(${target} PUBLIC cxx_std_17)
+  target_compile_definitions(${target} PUBLIC $<$<COMPILE_LANG_AND_ID:CXX,MSVC>:_USE_MATH_DEFINES>)
+  target_compile_options(
+    ${target}
+    PRIVATE # Clang
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-fcolor-diagnostics>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Werror>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Wno-sign-compare>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Wno-sign-conversion>
+            $<$<COMPILE_LANG_AND_ID:CXX,Clang>:-Wno-ignored-qualifiers>
+            # GNU
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-fdiagnostics-color=always>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Werror>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wall>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wextra>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-pedantic>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wcast-align>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wno-sign-compare>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Woverloaded-virtual>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wdisabled-optimization>
+            $<$<COMPILE_LANG_AND_ID:CXX,GNU>:-Wno-ignored-qualifiers>)
+  set(INCLUDE_DIRS ${PROJECT_SOURCE_DIR})
+  get_filename_component(INCLUDE_DIRS ${INCLUDE_DIRS} PATH)
+  target_include_directories(${target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+                             PUBLIC $<BUILD_INTERFACE:${INCLUDE_DIRS}> $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+endfunction()