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ga58lar
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formatting and fixes for pcl removal
1 parent d3b256c commit df8dc7c

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-132
lines changed

‎.clang-format‎

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@@ -7,4 +7,4 @@ BinPackParameters: false
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SortIncludes: true
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Standard: c++20
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DerivePointerAlignment: false
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PointerAlignment: Right
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PointerAlignment: Right

‎.cmake-format.yaml‎

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@@ -1,4 +1,4 @@
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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
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max_subgroups_hwrap: 5

‎Dockerfile‎

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@@ -34,11 +34,16 @@ RUN apt-get update && apt-get install -y -q --no-install-recommends \
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wget \
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libeigen3-dev \
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libomp-dev \
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libtbb-dev \
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libgoogle-glog-dev \
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libgflags-dev \
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libatlas-base-dev \
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libsuitesparse-dev \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-distutils \
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pybind11-dev \
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liblzf-dev
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RUN pip install numpy ninja
@@ -52,7 +57,7 @@ RUN wget http://ceres-solver.org/ceres-solver-2.2.0.tar.gz && \
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cmake ../ceres-solver-2.2.0 && make -j3 && make test && make install
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# Irindescence
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RUN apt-get update && apt-get install -y -q --no-install-recommends curl gnupg
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RUN apt-get update && apt-get install -y -q --no-install-recommends curl gnupg libpng-dev libjpeg-dev
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RUN mkdir -m 0755 -p /etc/apt/keyrings/
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RUN curl -fsSL https://koide3.github.io/ppa/ubuntu2204/KEY.gpg | gpg --dearmor -o /etc/apt/keyrings/koide3_ppa.gpg
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RUN echo "deb [signed-by=/etc/apt/keyrings/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./" | tee /etc/apt/sources.list.d/koide3_ppa.list > /dev/null

‎Dockerfile.dev‎

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Original file line numberDiff line numberDiff line change
@@ -34,11 +34,16 @@ RUN apt-get update && apt-get install -y -q --no-install-recommends \
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wget \
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libeigen3-dev \
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libomp-dev \
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libtbb-dev \
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libgoogle-glog-dev \
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libgflags-dev \
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libatlas-base-dev \
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libsuitesparse-dev \
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python3-dev \
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python3-pip \
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python3-setuptools \
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python3-distutils \
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pybind11-dev \
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liblzf-dev
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RUN pip install numpy ninja
@@ -52,7 +57,7 @@ RUN wget http://ceres-solver.org/ceres-solver-2.2.0.tar.gz && \
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cmake ../ceres-solver-2.2.0 && make -j3 && make test && make install
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# Irindescence
55-
RUN apt-get update && apt-get install -y -q --no-install-recommends curl gnupg
60+
RUN apt-get update && apt-get install -y -q --no-install-recommends curl gnupg libpng-dev libjpeg-dev
5661
RUN mkdir -m 0755 -p /etc/apt/keyrings/
5762
RUN curl -fsSL https://koide3.github.io/ppa/ubuntu2204/KEY.gpg | gpg --dearmor -o /etc/apt/keyrings/koide3_ppa.gpg
5863
RUN echo "deb [signed-by=/etc/apt/keyrings/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./" | tee /etc/apt/sources.list.d/koide3_ppa.list > /dev/null

‎README.md‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,11 @@
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<h2>Zero-Drift Point Cloud Mapping using Map Priors</h2>
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<br>
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6+
![C++](https://img.shields.io/badge/-C++-blue?logo=cplusplus)
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![Python](https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54)
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[![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/)
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![License](https://img.shields.io/badge/license-Apache%202.0-blue)
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![Version](https://img.shields.io/badge/version-0.1.0-blue)
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![Version](https://img.shields.io/badge/version-0.2.0-blue)
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[![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2501.11111)
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<br align="center">
@@ -91,9 +93,7 @@ pip install -e .
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## Limitations
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94-
* The reference map has to be in the .pcd format
95-
* Detailed instructions on how to create refrence maps is missing
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* Move to nanobind
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* Detailed instructions on how to create refrence maps are missing
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## Acknowledgement
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‎cpp/CMakeLists.txt‎

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@@ -41,10 +41,11 @@ add_library(
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utils/pose_utils.cpp
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utils/helpers.cpp)
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44-
target_include_directories(openlidarmap_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} PRIVATE ${small_gicp_INCLUDE_DIRS} ${LIBLZF_INCLUDE_DIR})
44+
target_include_directories(openlidarmap_lib PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} PRIVATE ${small_gicp_INCLUDE_DIRS}
45+
${LIBLZF_INCLUDE_DIR})
4546

46-
target_link_libraries(openlidarmap_lib PUBLIC Eigen3::Eigen small_gicp Ceres::ceres
47-
PRIVATE Iridescence::Iridescence stdc++fs ${LIBLZF_LIBRARY})
47+
target_link_libraries(openlidarmap_lib PUBLIC Eigen3::Eigen small_gicp Ceres::ceres PRIVATE Iridescence::Iridescence
48+
stdc++fs ${LIBLZF_LIBRARY})
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4950
# Add executable
5051
add_executable(openlidarmap_cpp apps/main.cpp)

‎cpp/config/kernel_config.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -4,15 +4,12 @@
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55
namespace openlidarmap::config {
66

7-
struct KernelConfig {
8-
double model_sse{};
9-
size_t num_samples{};
10-
double sigma{};
11-
12-
KernelConfig()
13-
: model_sse(1.0),
14-
num_samples(1),
15-
sigma(1.0) {}
16-
};
17-
18-
} // namespace openlidarmap::config
7+
struct KernelConfig {
8+
double model_sse{};
9+
size_t num_samples{};
10+
double sigma{};
11+
12+
KernelConfig() : model_sse(1.0), num_samples(1), sigma(1.0) {}
13+
};
14+
15+
} // namespace openlidarmap::config

‎cpp/config/preprocess_config.hpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@ struct PreProcessConfig {
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double downsampling_resolution{};
99
int num_neighbors{};
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11-
PreProcessConfig() : min_range(5.0), max_range(100.0),
12-
downsampling_resolution(1.5), num_neighbors(10) {}
11+
PreProcessConfig()
12+
: min_range(5.0), max_range(100.0), downsampling_resolution(1.5), num_neighbors(10) {}
1313
};
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1515
} // namespace openlidarmap::config

‎cpp/core/pose_factor_abs.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -13,15 +13,15 @@ struct AbsPoseError {
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template <typename T>
1414
bool operator()(const T *const pose, T *residual) const {
1515
constexpr double STDDEV = 1.0;
16-
16+
1717
for (int i = 0; i < 3; ++i) {
1818
residual[i] = (pose[i] - T(abs_measure_[i])) / T(STDDEV);
1919
}
2020

2121
// Quaternion error
2222
Eigen::Quaternion<T> q1(pose[6], pose[3], pose[4], pose[5]);
23-
Eigen::Quaternion<T> q2{T(abs_measure_[6]), T(abs_measure_[3]),
24-
T(abs_measure_[4]), T(abs_measure_[5])};
23+
Eigen::Quaternion<T> q2{T(abs_measure_[6]), T(abs_measure_[3]), T(abs_measure_[4]),
24+
T(abs_measure_[5])};
2525
Eigen::Quaternion<T> q_error = q1.normalized() * q2.normalized().inverse();
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2727
// Convert quaternion error to residual

‎cpp/core/pose_factor_rel.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -14,22 +14,22 @@ struct RelPoseError {
1414
bool operator()(const T *const pose_i, const T *const pose_j, T *residual) const {
1515
constexpr double STDDEV = 1.0;
1616

17-
Eigen::Transform<T,3,Eigen::Isometry> T_i = Eigen::Transform<T,3,Eigen::Isometry>::Identity();
18-
T_i.translation() = Eigen::Map<const Eigen::Matrix<T,3,1>>(pose_i);
17+
Eigen::Transform<T, 3, Eigen::Isometry> T_i =
18+
Eigen::Transform<T, 3, Eigen::Isometry>::Identity();
19+
T_i.translation() = Eigen::Map<const Eigen::Matrix<T, 3, 1>>(pose_i);
1920
Eigen::Quaternion<T> q_i(pose_i[6], pose_i[3], pose_i[4], pose_i[5]);
2021
T_i.linear() = q_i.normalized().toRotationMatrix();
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22-
Eigen::Transform<T,3,Eigen::Isometry> T_j = Eigen::Transform<T,3,Eigen::Isometry>::Identity();
23-
T_j.translation() = Eigen::Map<const Eigen::Matrix<T,3,1>>(pose_j);
23+
Eigen::Transform<T, 3, Eigen::Isometry> T_j =
24+
Eigen::Transform<T, 3, Eigen::Isometry>::Identity();
25+
T_j.translation() = Eigen::Map<const Eigen::Matrix<T, 3, 1>>(pose_j);
2426
Eigen::Quaternion<T> q_j(pose_j[6], pose_j[3], pose_j[4], pose_j[5]);
2527
T_j.linear() = q_j.normalized().toRotationMatrix();
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27-
Eigen::Transform<T,3,Eigen::Isometry> T_target = Eigen::Transform<T,3,Eigen::Isometry>::Identity();
28-
T_target.translation() = Eigen::Matrix<T,3,1>(
29-
T(rel_measure_[0]),
30-
T(rel_measure_[1]),
31-
T(rel_measure_[2])
32-
);
29+
Eigen::Transform<T, 3, Eigen::Isometry> T_target =
30+
Eigen::Transform<T, 3, Eigen::Isometry>::Identity();
31+
T_target.translation() =
32+
Eigen::Matrix<T, 3, 1>(T(rel_measure_[0]), T(rel_measure_[1]), T(rel_measure_[2]));
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3434
const T w = T(rel_measure_[6]);
3535
const T x = T(rel_measure_[3]);
@@ -40,17 +40,17 @@ struct RelPoseError {
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4141
auto T_error = T_target.inverse() * T_j;
4242

43-
Eigen::Matrix<T,3,1> pos_error = T_error.translation();
44-
43+
Eigen::Matrix<T, 3, 1> pos_error = T_error.translation();
44+
4545
Eigen::Quaternion<T> q_error(T_error.linear());
4646
q_error.normalize();
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4848
residual[0] = pos_error.x() / T(STDDEV);
4949
residual[1] = pos_error.y() / T(STDDEV);
5050
residual[2] = pos_error.z() / T(STDDEV);
51-
51+
5252
residual[3] = T(2.0) * q_error.x() / T(STDDEV);
53-
residual[4] = T(2.0) * q_error.y() / T(STDDEV);
53+
residual[4] = T(2.0) * q_error.y() / T(STDDEV);
5454
residual[5] = T(2.0) * q_error.z() / T(STDDEV);
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5656
return true;

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