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‎.clang-format‎

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---
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Language: Cpp
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BasedOnStyle: Google
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AccessModifierOffset: -1
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: true
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AlignConsecutiveDeclarations: false
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: true
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: true
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BinPackArguments: false
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BinPackParameters: false
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BraceWrapping:
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AfterClass: false
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AfterControlStatement: false
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AfterEnum: false
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AfterFunction: false
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AfterNamespace: false
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AfterObjCDeclaration: false
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AfterStruct: false
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AfterUnion: false
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BeforeCatch: false
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BeforeElse: false
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IndentBraces: false
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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CommentPragmas: "^ IWYU pragma:"
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: true
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeCategories:
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# Spacers
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- Regex: "^<clang-format-priority-15>$"
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Priority: 15
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- Regex: "^<clang-format-priority-25>$"
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Priority: 25
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- Regex: "^<clang-format-priority-35>$"
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Priority: 35
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- Regex: "^<clang-format-priority-45>$"
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Priority: 45
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# C system headers
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- Regex: '^[<"](aio|arpa/inet|assert|complex|cpio|ctype|curses|dirent|dlfcn|errno|fcntl|fenv|float|fmtmsg|fnmatch|ftw|glob|grp|iconv|inttypes|iso646|langinfo|libgen|limits|locale|math|monetary|mqueue|ndbm|netdb|net/if|netinet/in|netinet/tcp|nl_types|poll|pthread|pwd|regex|sched|search|semaphore|setjmp|signal|spawn|stdalign|stdarg|stdatomic|stdbool|stddef|stdint|stdio|stdlib|stdnoreturn|string|strings|stropts|sys/ipc|syslog|sys/mman|sys/msg|sys/resource|sys/select|sys/sem|sys/shm|sys/socket|sys/stat|sys/statvfs|sys/time|sys/times|sys/types|sys/uio|sys/un|sys/utsname|sys/wait|tar|term|termios|tgmath|threads|time|trace|uchar|ulimit|uncntrl|unistd|utime|utmpx|wchar|wctype|wordexp)\.h[">]$'
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Priority: 10
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# C++ system headers
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- Regex: '^[<"](algorithm|any|array|atomic|bitset|cassert|ccomplex|cctype|cerrno|cfenv|cfloat|charconv|chrono|cinttypes|ciso646|climits|clocale|cmath|codecvt|complex|condition_variable|csetjmp|csignal|cstdalign|cstdarg|cstdbool|cstddef|cstdint|cstdio|cstdlib|cstring|ctgmath|ctime|cuchar|cwchar|cwctype|deque|exception|execution|filesystem|forward_list|fstream|functional|future|initializer_list|iomanip|ios|iosfwd|iostream|istream|iterator|limits|list|locale|map|memory|memory_resource|mutex|new|numeric|optional|ostream|queue|random|ratio|regex|scoped_allocator|set|shared_mutex|sstream|stack|stdexcept|streambuf|string|string_view|strstream|system_error|thread|tuple|type_traits|typeindex|typeinfo|unordered_map|unordered_set|utility|valarray|variant|vector)[">]$'
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Priority: 20
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# Other library h files (with angles)
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- Regex: "^<"
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Priority: 30
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# Your project's h files (with angles)
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- Regex: "^<patchwork"
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Priority: 40
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# Your project's h files
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- Regex: '^"patchworkpp'
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Priority: 50
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IndentCaseLabels: true
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IndentWidth: 2
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IndentWrappedFunctionNames: false
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KeepEmptyLinesAtTheStartOfBlocks: false
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MacroBlockBegin: ""
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MacroBlockEnd: ""
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ColumnLimit: 100
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: false
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PenaltyBreakBeforeFirstCallParameter: 1
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 200
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PointerAlignment: Left
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ReflowComments: true
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SortIncludes: true
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SpaceAfterCStyleCast: false
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeParens: ControlStatements
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 2
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SpacesInAngles: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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Standard: Auto
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TabWidth: 4
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UseTab: Never
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---
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# For addressing 'Configuration file(s) do(es) not support Json' error
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Language: Json
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BasedOnStyle: llvm

‎.pre-commit-config.yaml‎

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ci:
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autofix: true
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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: check-yaml
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exclude: \.clang-format$
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- id: check-json
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- id: check-xml
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- id: end-of-file-fixer
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- id: trailing-whitespace
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- id: check-added-large-files
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- id: check-merge-conflict
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######################################################################
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# Python Formatting
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######################################################################
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# For Python import sorting
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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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# TODO(hlim): Why launch.py files lead to error?
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exclude: \.launch\.py$
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# Yet Another Python Formatter
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# NOTE(hlim): Python 3.12 (Ubuntu 24.04) is now not supported by yapf
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# - repo: https://github.com/pre-commit/mirrors-yapf
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# rev: v0.32.0
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# hooks:
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# - id: yapf
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# additional_dependencies: [toml]
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- repo: https://github.com/psf/black
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rev: 23.12.1
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hooks:
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- id: black
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# TODO(hlim): Why launch.py files lead to error?
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exclude: \.launch\.py$
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- repo: https://github.com/PyCQA/flake8
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rev: 5.0.4
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hooks:
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- id: flake8
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exclude: 'python/utils/download_datasets'
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# To avoid conflict between flake and black
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args: ["--ignore=E501"]
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######################################################################
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# Markdown Formatting
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######################################################################
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- repo: https://github.com/executablebooks/mdformat
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rev: 0.7.9
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hooks:
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- id: mdformat
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exclude: 'github/'
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######################################################################
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# C++ Formatting
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######################################################################
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: "v16.0.6"
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hooks:
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- id: clang-format

‎Makefile‎

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cppinstall_with_demo:
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@cmake -Bcpp/build cpp/ -DINCLUDE_CPP_EXAMPLES=ON
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@cmake --build cpp/build -j$(nproc --all)
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@cmake --build cpp/build -j$(nproc --all)

‎README.md‎

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<br />
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<p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>
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[Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
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</div>
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[Patchwork++][arxivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
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[YouTubeLInk]: https://www.youtube.com/watch?v=fogCM159GRk
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[arXivlink]: https://arxiv.org/abs/2207.11919
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[patchworklink]: https://github.com/LimHyungTae/patchwork
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[SemanticKITTIlink]: http://www.semantic-kitti.org/
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[benchmarklink]: https://github.com/url-kaist/Ground-Segmentation-Benchmark
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</div>
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## :open_file_folder: What's in this repo
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* C++ source code of Patchwork++ ([patchworkpp][sourcecodelink])
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* Python binding of Patchwork++ using pybind11 ([python_wrapper][wraplink])
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* Examples codes of [C++][cppexamplelink], [Python][pyexamplelink], and [ROS2][rosexamplelink] :thumbsup:
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- C++ source code of Patchwork++ ([patchworkpp][sourcecodelink])
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- Python binding of Patchwork++ using pybind11 ([python_wrapper][wraplink])
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- Examples codes of [C++][cppexamplelink], [Python][pyexamplelink], and [ROS2][rosexamplelink] :thumbsup:
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> If you are familiar with ROS1, you can also visit [here][roslink] and try executing ROS1-based Patchwork++!
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[roslink]: https://github.com/url-kaist/patchwork-plusplus-ros
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[sourcecodelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/patchworkpp
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[pybind11link]: https://github.com/pybind/pybind11
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[wraplink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python/patchworkpp
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[cppexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp
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[pyexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python
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[rosexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/ros
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## :package: Prerequisite packages
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> What we need are just minimal dependencies.
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```commandline
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git clone https://github.com/url-kaist/patchwork-plusplus.git
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cd ~/ros2_ws
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colcon build --packages-select patchworkpp
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source ./install/setup.bash
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source ./install/setup.bash
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```
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How to launch ROS2 nodes is explained [here][rosexamplelink].
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## :pencil: Citation
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If you use our codes, please cite our paper ([arXiv][arXivLink], [IEEE *Xplore*][patchworkppIEEElink])
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If you use our codes, please cite our paper ([arXiv][arxivlink], [IEEE *Xplore*][patchworkppieeelink])
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```
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@inproceedings{lee2022patchworkpp,
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title={{Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3D point cloud}},
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}
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```
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In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][patchworkarXivlink], [IEEE *Xplore*][patchworkIEEElink])
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In addition, you can also check the paper of our baseline, Patchwork. ([arXiv][patchworkarxivlink], [IEEE *Xplore*][patchworkieeelink])
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```
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@article{lim2021patchwork,
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title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
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year={2021}
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}
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```
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[patchworkppIEEElink]: https://ieeexplore.ieee.org/document/9981561
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[patchworkarXivlink]: https://arxiv.org/abs/2108.05560
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[patchworkIEEElink]: https://ieeexplore.ieee.org/document/9466396
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## :triangular_flag_on_post: Tested Environment
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- pybind11 v2.2.3
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- Eigen 3.3.7
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## :mailbox: Contact Information
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If you have any questions, please do not hesitate to contact us
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* [Seungjae Lee][sjlink] :envelope: sj98lee `at` kaist `ac` kr
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* [Hyungtae Lim][htlink] :envelope: shapelim `at` kaist `ac` kr
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[sjlink]: https://github.com/seungjae24
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[htlink]: https://github.com/LimHyungTae
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If you have any questions, please do not hesitate to contact us
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- [Seungjae Lee][sjlink] :envelope: sj98lee `at` kaist `ac` kr
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- [Hyungtae Lim][htlink] :envelope: shapelim `at` kaist `ac` kr
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---
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______________________________________________________________________
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## Todo List
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- [ ] Support intensity for RNR in `master` branch
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- [ ] Support `Patchwork` mode for users who use this repository for baseline comparison purposes
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- [ ] Integrate TBB and optimize the performance
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- \[ \] Support intensity for RNR in `master` branch
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- \[ \] Support `Patchwork` mode for users who use this repository for baseline comparison purposes
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- \[ \] Integrate TBB and optimize the performance
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[arxivlink]: https://arxiv.org/abs/2207.11919
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[cppexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp
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[htlink]: https://github.com/LimHyungTae
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[patchworkarxivlink]: https://arxiv.org/abs/2108.05560
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[patchworkieeelink]: https://ieeexplore.ieee.org/document/9466396
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[patchworklink]: https://github.com/LimHyungTae/patchwork
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[patchworkppieeelink]: https://ieeexplore.ieee.org/document/9981561
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[pyexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python
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[rosexamplelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/ros
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[roslink]: https://github.com/url-kaist/patchwork-plusplus-ros
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[sjlink]: https://github.com/seungjae24
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[sourcecodelink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/patchworkpp
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[wraplink]: https://github.com/url-kaist/patchwork-plusplus/tree/master/python/patchworkpp

‎cpp/README.md‎

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<br />
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<p align="center"><img src=../pictures/patchwork++.gif alt="animated" /></p>
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[Patchwork++][arXivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
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</div>
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[Patchwork++][arxivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.
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[arXivlink]: https://arxiv.org/abs/2207.11919
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[patchworklink]: https://github.com/LimHyungTae/patchwork
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</div>
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---
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______________________________________________________________________
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# Patchwork++ in C++
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make cppinstall_with_demo
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```
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, or
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, or
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```commandline
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# in patchwork-plusplus directory
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> [!WARNING]
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> \[!WARNING\]
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> Please check your cmake version via `cmake --version`.
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> If it is lower than 3.20, it is automatically updated by `scripts/install_latest_cmake.bash` (see [here](https://github.com/url-kaist/patchwork-plusplus/blob/master/cpp/CMakeLists.txt#L31)).
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Consequently, our Patchwork++ is installed in your local environment.
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An example of finding the `patchworkpp` package in another package is also provided in [example_of_find_package](https://github.com/url-kaist/patchwork-plusplus/tree/master/cpp/example_of_find_package)
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## :runner: To run the demo codes
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> There are some example codes for your convenience!
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> Please try using Patchwork++ to segment ground points in a 3D point cloud :smiley:
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- Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
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* Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)
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```commandline
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./cpp/build/examples/demo_visualize
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```
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* Example 2. Run patchwork++ with sequential point cloud inputs
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- Example 2. Run patchwork++ with sequential point cloud inputs
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```commandline
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./cpp/build/examples/demo_sequential
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```
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* Example 3. Run patchwork++ with your point cloud file, example here
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- Example 3. Run patchwork++ with your point cloud file, example here
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```commandline
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./examples/demo_visualize ./data/000000.bin # specify file path
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```
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### Demo Result
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If you execute Patchwork++ with given demo codes well, you can get the following result!
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It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)
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![Open3D Visualization of "data/000000.bin"](../pictures/demo_000000.png)
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[arxivlink]: https://arxiv.org/abs/2207.11919
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[patchworklink]: https://github.com/LimHyungTae/patchwork

‎cpp/cmake/ListPrepend.cmake‎

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ENDFUNCTION(list_prepend)

‎cpp/cmake/eigen.cmake‎

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set_target_properties(eigen PROPERTIES INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${eigen_include_dirs}")
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endif()
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