New project structure (#46)

* Manual merge from gitlab

* Rename file

.cmake-format.yaml

@@ -1,2 +1,4 @@
+enable_markup: false
+line_width: 120
 format:
   max_subgroups_hwrap: 5

CMakeLists.txt

@@ -20,19 +20,25 @@
 # 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...3.24)
-project(kiss_icp VERSION 0.0.14 LANGUAGES CXX)
+cmake_minimum_required(VERSION 3.20...3.24)
+project(kiss_icp VERSION 0.1.0 LANGUAGES CXX)
 
 # Set build options
-option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" ON)
 option(BUILD_PYTHON_BINDINGS "Build the python module" OFF)
+option(BUILD_ROS_WRAPPER "Build the ROS wrapper module" OFF)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
-add_subdirectory(src/cpp)
+# Build always core library
+add_subdirectory(src/cpp/kiss_icp)
+
 if(BUILD_PYTHON_BINDINGS)
-  add_subdirectory(src/pybind)
+  add_subdirectory(src/cpp/kiss_icp_pybind)
+endif()
+
+if(BUILD_ROS_WRAPPER)
+  add_subdirectory(src/cpp/kiss_icp_ros)
 endif()

Makefile

@@ -14,4 +14,4 @@ docker-push:
 	@docker push gitlab.ipb.uni-bonn.de:4567/ipb-team/ipb-tools/kiss_icp
 
 license:
-	@addlicense -f LICENSE -v -ignore **/*.yaml -v .
+	@addlicense -f LICENSE -ignore **/*.yaml -v .

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = kiss_icp
-version = 0.0.14
+version = 0.1.0
 author = Ignacio Vizzo
 author_email = ignaciovizzo@gmail.com
 description = Simple yet effective 3D LiDAR-Odometry registration pipeline

src/cpp/3rdparty/eigen/eigen.cmake → src/cpp/kiss_icp/3rdparty/eigen/eigen.cmake

@@ -26,8 +26,7 @@ ExternalProject_Add(
   external_eigen
   PREFIX eigen
   URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.bz2
-  URL_HASH
-    SHA256=b4c198460eba6f28d34894e3a5710998818515104d6e74e5cc331ce31e46e626
+  URL_HASH SHA256=b4c198460eba6f28d34894e3a5710998818515104d6e74e5cc331ce31e46e626
   UPDATE_COMMAND ""
   CONFIGURE_COMMAND ""
   BUILD_COMMAND ""
@@ -36,7 +35,6 @@ ExternalProject_Add(
 ExternalProject_Get_Property(external_eigen SOURCE_DIR)
 add_library(libEigenHelper INTERFACE)
 add_dependencies(libEigenHelper external_eigen)
-target_include_directories(libEigenHelper SYSTEM
-                           INTERFACE $<BUILD_INTERFACE:${SOURCE_DIR}>)
+target_include_directories(libEigenHelper SYSTEM INTERFACE $<BUILD_INTERFACE:${SOURCE_DIR}>)
 set_property(TARGET libEigenHelper PROPERTY EXPORT_NAME Eigen3::Eigen)
 add_library(Eigen3::Eigen ALIAS libEigenHelper)

src/cpp/3rdparty/find_dependencies.cmake → src/cpp/kiss_icp/3rdparty/find_dependencies.cmake

@@ -21,17 +21,16 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-# CMake arguments for configuring ExternalProjects.
-set(ExternalProject_CMAKE_ARGS
-    -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
-    -DCMAKE_CXX_COMPILER_LAUNCHER=${CMAKE_CXX_COMPILER_LAUNCHER}
-    -DCMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON)
-
 # Silence timestamp warning
 if(CMAKE_VERSION VERSION_GREATER 3.24)
   cmake_policy(SET CMP0135 OLD)
 endif()
 
+# CMake arguments for configuring ExternalProjects.
+set(ExternalProject_CMAKE_ARGS
+    -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_CXX_COMPILER_LAUNCHER=${CMAKE_CXX_COMPILER_LAUNCHER}
+    -DCMAKE_BUILD_TYPE=Release -DCMAKE_POSITION_INDEPENDENT_CODE=ON)
+
 # tsl_robin is fast to fetch, don't ask for system-wise installation
 include(${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake)
 
@@ -51,4 +50,3 @@ if(NOT USE_SYSTEM_TBB OR NOT TBB_FOUND)
   set(USE_SYSTEM_TBB OFF)
   include(${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake)
 endif()
-

src/cpp/3rdparty/tbb/tbb.cmake → src/cpp/kiss_icp/3rdparty/tbb/tbb.cmake

@@ -27,8 +27,7 @@ ExternalProject_Add(
   external_tbb
   PREFIX tbb
   URL https://github.com/nachovizzo/tbb/archive/refs/tags/tbbstatic.tar.gz
-  URL_HASH
-    SHA256=db5ede77c4bd10ad12fab11ed38b7e8cf80aba85db16a57514073c383e6c8630
+  URL_HASH SHA256=db5ede77c4bd10ad12fab11ed38b7e8cf80aba85db16a57514073c383e6c8630
   UPDATE_COMMAND ""
   CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
              ${ExternalProject_CMAKE_ARGS}

src/cpp/3rdparty/tsl_robin/tsl_robin.cmake → src/cpp/kiss_icp/3rdparty/tsl_robin/tsl_robin.cmake

@@ -22,22 +22,15 @@
 # SOFTWARE.
 include(FetchContent)
 
-FetchContent_Declare(
-  tessil
-  URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.0.1.tar.gz)
+FetchContent_Declare(tessil URL https://github.com/Tessil/robin-map/archive/refs/tags/v1.0.1.tar.gz)
 if(NOT tessil_POPULATED)
   set(BUILD_TESTING OFF)
   FetchContent_Populate(tessil)
   add_library(robin_map INTERFACE)
   add_library(tsl::robin_map ALIAS robin_map)
-  target_include_directories(
-    robin_map INTERFACE "$<BUILD_INTERFACE:${tessil_SOURCE_DIR}/include>")
-  list(
-    APPEND
-    headers
-    "${tessil_SOURCE_DIR}/include/tsl/robin_growth_policy.h"
-    "${tessil_SOURCE_DIR}/include/tsl/robin_hash.h"
-    "${tessil_SOURCE_DIR}/include/tsl/robin_map.h"
-    "${tessil_SOURCE_DIR}/include/tsl/robin_set.h")
+  target_include_directories(robin_map INTERFACE "$<BUILD_INTERFACE:${tessil_SOURCE_DIR}/include>")
+  list(APPEND headers "${tessil_SOURCE_DIR}/include/tsl/robin_growth_policy.h"
+       "${tessil_SOURCE_DIR}/include/tsl/robin_hash.h" "${tessil_SOURCE_DIR}/include/tsl/robin_map.h"
+       "${tessil_SOURCE_DIR}/include/tsl/robin_set.h")
   target_sources(robin_map INTERFACE "$<BUILD_INTERFACE:${headers}>")
 endif()

src/cpp/kiss_icp/CMakeLists.txt

@@ -20,12 +20,20 @@
 # 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.
-add_library(kiss_icp STATIC)
-add_library(kiss_icp::kiss_icp ALIAS kiss_icp)
-target_sources(kiss_icp PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp Preprocessing.cpp)
-target_compile_features(kiss_icp PUBLIC cxx_std_17)
-target_compile_options(kiss_icp PRIVATE -Wall -Wextra)
-target_include_directories(
-  kiss_icp PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
-                                                      $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
-target_link_libraries(kiss_icp PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb)
+cmake_minimum_required(VERSION 3.20...3.24)
+project(kiss_icp VERSION 0.1.0 LANGUAGES CXX)
+
+# Setup build options
+option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" ON)
+option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
+
+# Set build type (repeat here for C++ only consumers)
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+include(3rdparty/find_dependencies.cmake)
+include(cmake/CompilerOptions.cmake)
+
+add_subdirectory(metrics)
+add_subdirectory(core)