Initial open source commit

.dockerignore

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+**/.git
+**/.bin
+**/.ply
+**/*results/
+**/*data/

.gitignore

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+**/*results/
+**/*data/
+
+# 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
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+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
+
+# 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/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# End of https://www.toptal.com/developers/gitignore/api/python,c++

3rdparty/Open3D.sh

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+#!/bin/bash
+# Install Open3D with GeneralizedICP support
+# Based on Open3D/util/ci_utils.sh
+
+set -ex
+
+NPROC=${NPROC:-$(getconf _NPROCESSORS_ONLN)} # POSIX: MacOS + Linux
+
+# Patch for PSR
+patch_psr() {
+    git apply --ignore-whitespace <<EOF
+diff --git a/Src/FEMTree.Initialize.inl b/Src/FEMTree.Initialize.inl
+index df0e156..cb6ca50 100644
+--- a/Src/FEMTree.Initialize.inl
++++ b/Src/FEMTree.Initialize.inl
+@@ -190,7 +190,7 @@ size_t FEMTreeInitializer< Dim , Real >::Initialize( FEMTreeNode& root , InputPo
+        pointStream.reset();
+    }
+    if( outOfBoundPoints  ) WARN( "Found out-of-bound points: " , outOfBoundPoints );
+-	if( badData           ) WARN( "Found bad data: " , badData );
++	/* if( badData           ) WARN( "Found bad data: " , badData ); */
+    if( std::is_same< Real , float >::value )
+    {
+        std::vector< size_t > badNodeCounts( ThreadPool::NumThreads() , 0 );
+diff --git a/Src/FEMTree.IsoSurface.specialized.inl b/Src/FEMTree.IsoSurface.specialized.inl
+index 28b5ef0..88710e4 100644
+--- a/Src/FEMTree.IsoSurface.specialized.inl
++++ b/Src/FEMTree.IsoSurface.specialized.inl
+@@ -1855,7 +1855,7 @@ public:
+        FEMTree< Dim , Real >::MemoryUsage();
+        if( pointEvaluator ) delete pointEvaluator;
+        size_t badRootCount = _BadRootCount;
+-		if( badRootCount!=0 ) WARN( "bad average roots: " , badRootCount );
++		/* if( badRootCount!=0 ) WARN( "bad average roots: " , badRootCount ); */
+        return isoStats;
+    }
+ };
+EOF
+}
+
+build_all() {
+
+    echo "Using cmake: $(which cmake)"
+    cmake --version
+
+    mkdir -p build
+    cd build
+
+    cmakeOptions=(
+        -DCMAKE_BUILD_TYPE=Release
+        -DPYTHON_EXECUTABLE="$(which python)"
+        -DBUILD_LIBREALSENSE=OFF
+        -DBUILD_UNIT_TESTS=OFF
+        -DBUILD_BENCHMARKS=OFF
+        -DBUILD_EXAMPLES=OFF
+        -DENABLE_HEADLESS_RENDERING=ON
+        -DBUILD_GUI=OFF
+        -DUSE_SYSTEM_GLEW=OFF
+        -DUSE_SYSTEM_GLFW=OFF
+    )
+
+    echo Running cmake "${cmakeOptions[@]}" ..
+    cmake "${cmakeOptions[@]}" ..
+    echo "Build & install Open3D..."
+    make VERBOSE=1 -j"$NPROC"
+    make install -j"$NPROC"
+    make VERBOSE=1 install-pip-package -j"$NPROC"
+}
+
+# install open3d with python bindings
+git clone --depth 1 --recurse-submodules \
+    https://github.com/nachovizzo/Open3D.git /tmp/Open3D -b nacho/generalized_icp &&
+    cd /tmp/Open3D/
+
+# Patch Poisson Surface Reconstruction so it doesn't fill up the console.
+cd 3rdparty/PoissonRecon/PoissonRecon/ && patch_psr && cd -
+
+# Was impossible to pass the SUDO env variable to the script, so remove it :)
+sed -i 's/sudo//' util/install_deps_ubuntu.sh
+
+# install Open3D dependencies
+bash util/install_deps_ubuntu.sh assume-yes
+
+# Build and cleanup to save space
+build_all
+rm -rf /tmp/Open3D && rm -rf /var/lib/apt/lists/*

3rdparty/cmake.sh

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+#!/bin/bash
+# Instructions from https://apt.kitware.com/
+
+set -ex
+
+apt-get update && apt-get install --no-install-recommends -y \
+    apt-transport-https \
+    ca-certificates \
+    gnupg \
+    software-properties-common &&
+    rm -rf /var/lib/apt/lists/*
+
+wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null |
+    gpg --dearmor - |
+    tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
+
+apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
+apt-get update && apt-get install --no-install-recommends -y \
+    cmake &&
+    rm -rf /var/lib/apt/lists/*

3rdparty/embree.sh

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+#!/bin/bash
+
+# Taken from the trimesh library, all copyrights belong to the original authors
+# https://raw.githubusercontent.com/mikedh/trimesh/master/docker/builds/embree.bash
+set -xe
+
+# Fetch the archive from GitHub releases.
+wget https://github.com/embree/embree/releases/download/v2.17.7/embree-2.17.7.x86_64.linux.tar.gz -O /tmp/embree.tar.gz -nv
+echo "2c4bdacd8f3c3480991b99e85b8f584975ac181373a75f3e9675bf7efae501fe  /tmp/embree.tar.gz" | sha256sum --check
+tar -xzf /tmp/embree.tar.gz --strip-components=1 -C /usr/local
+# remove archive
+rm -rf /tmp/embree.tar.gz
+
+# Install python bindings for embree (and upstream requirements).
+pip install --no-cache-dir numpy cython
+pip install --no-cache-dir https://github.com/scopatz/pyembree/releases/download/0.1.6/pyembree-0.1.6.tar.gz

3rdparty/patch_pykitti.sh

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+#!/bin/bash
+set -ex
+
+# Obtain the location of the pykitti package
+pykitti_dir=$(
+python - <<-EOF
+
+import sys
+import traceback
+import os
+
+try:
+    import pykitti
+except ModuleNotFoundError as err:
+    print(os.path.dirname(traceback.extract_tb(sys.exc_info()[2])[-1].filename))
+EOF
+)
+
+echo "Patching pykitti in $pykitti_dir"
+sed -i '/import cv2/d' "${pykitti_dir}/tracking.py"