Version 0.0.0

.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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+*cmake-build-debug*/
+*cmake-build-release*/
+*build*/
+
+.idea/
+.vscode/
+
+### 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
+
+### CMake ###
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+### CMake Patch ###
+# External projects
+*-prefix/
+
+### Code ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Eclipse ###
+.metadata
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.settings/
+.loadpath
+.recommenders
+
+# External tool builders
+.externalToolBuilders/
+
+
+# PyDev specific (Python IDE for Eclipse)
+*.pydevproject
+
+# CDT-specific (C/C++ Development Tooling)
+.cproject
+
+# CDT- autotools
+.autotools
+
+# Java annotation processor (APT)
+.factorypath
+
+# PDT-specific (PHP Development Tools)
+.buildpath
+
+# sbteclipse plugin
+.target
+
+# Tern plugin
+.tern-project
+
+# TeXlipse plugin
+.texlipse
+
+# STS (Spring Tool Suite)
+.springBeans
+
+# Code Recommenders
+.recommenders/
+
+# Annotation Processing
+.apt_generated/
+
+# Scala IDE specific (Scala & Java development for Eclipse)
+.cache-main
+.scala_dependencies
+.worksheet
+
+### Eclipse Patch ###
+# Eclipse Core
+.project
+
+# JDT-specific (Eclipse Java Development Tools)
+.classpath
+
+# Annotation Processing
+.apt_generated
+
+.sts4-cache/
+
+# Pybinding
+python/build/
+*.pyc
+
+# End of https://www.gitignore.io/api/c++,code,cmake,eclipse

.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"]

CITATION.cff

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+cff-version: 1.2.0
+preferred-citation:
+  title: "GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting"
+  doi: "10.1109/LRA.2024.3498779"
+  year: "2024"
+  type: article
+  journal: "IEEE Robotics and Automation Letters (RA-L)"
+  codeurl: https://github.com/cocel-postech/genz-icp
+  authors:
+    - family-names: Lee
+      given-names: Daehan
+    - family-names: Lim
+      given-names: Hyungtae
+    - family-names: Han
+      given-names: Soohee

LICENSE

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+MIT License
+
+Copyright (c) 2024 Daehan Lee, Hyungtae Lim, Soohee Han.
+
+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.

README.md

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+<div align="center">
+    <h1>GenZ-ICP</h1>
+    <a href="https://github.com/cocel-postech/genz-icp/tree/master/cpp/genz_icp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a>
+    <a href=""><img src="https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54" /></a>
+    <a href="https://github.com/cocel-postech/genz-icp/tree/master/ros"><img src="https://img.shields.io/badge/ROS1-Noetic-blue" /></a>
+    <a href="https://github.com/cocel-postech/genz-icp/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-Humble-blue" /></a>
+    <a href=""><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a>
+    <a href="https://ieeexplore.ieee.org/document/10753079"><img src="https://img.shields.io/badge/DOI-10.1109/LRA.2024.3498779-004088.svg"/>
+    <br />
+    <br />
+    <a href="https://www.youtube.com/watch?v=CU6aAiTIO6Y">Video</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/cocel-postech/genz-icp/blob/master/README.md">Install</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/cocel-postech/genz-icp/tree/master/ros">ROS</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://arxiv.org/abs/2411.06766">Paper</a>
+    <span>&nbsp;&nbsp;•&nbsp;&nbsp;</span>
+    <a href="https://github.com/cocel-postech/genz-icp/issues">Contact Us</a>
+  <br />
+  <br />
+  <p align="center"><img src=pictures/GenZ-ICP.gif alt="animated" width="500" /></p>
+
+  [GenZ-ICP][arXivlink] is a **Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting**
+</div>
+
+[arXivlink]: https://arxiv.org/abs/2411.06766
+
+## :gear: How to build & run
+
+### ROS1
+
+#### How to build
+
+You should not need any extra dependency, just clone and build:
+
+```sh
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws/src
+git clone https://github.com/cocel-postech/genz-icp.git
+cd ..
+catkin build genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release
+source ~/catkin_ws/devel/setup.bash
+```
+
+#### How to run
+
+#### Option 1
+
+If you want to use a pre-tuned parameter set, you need to provide the **config file** with the **topic name** as arguments:
+
+```sh
+roslaunch genz_icp odometry.launch topic:=<topic_name> config_file:=<config_file_name>.yaml
+```
+```sh
+rosbag play <rosbag_file_name>.bag
+```
+
+For example,
+
+```sh
+roslaunch genz_icp odometry.launch topic:=/velodyne_points config_file:=long_corridor.yaml
+```
+```sh
+rosbag play subt_mrs_long_corridor.bag
+```
+
+The original bagfile for the **Long_Corridor** sequence of SubT-MRS dataset can be downloaded from [here][long_corridor_original_link]
+
+`subt_mrs_long_corridor.bag` includes only the `/velodyne_points` topic and can be downloaded from [here][long_corridor_link]
+
+[long_corridor_original_link]: https://superodometry.com/iccv23_challenge_Mul
+[long_corridor_link]: https://cocel.synology.me:5001/sharing/JZQalfEqQ
+
+
+#### Option 2
+
+Otherwise, the only required argument to provide is the **topic name**:
+
+```sh
+roslaunch genz_icp odometry.launch topic:=<topic_name>
+```
+```sh
+rosbag play <rosbag_file_name>.bag
+```
+
+### ROS2
+
+#### How to build
+
+You should not need any extra dependency, just clone and build:
+
+```sh
+mkdir -p ~/colcon_ws/src
+cd ~/colcon_ws/src
+git clone https://github.com/cocel-postech/genz-icp.git
+cd ..
+colcon build --packages-select genz_icp --cmake-args -DCMAKE_BUILD_TYPE=Release
+source ~/colcon_ws/install/setup.bash
+```
+
+#### How to run
+
+The only required argument to provide is the **topic name**:
+
+```sh
+ros2 launch genz_icp odometry.launch.py topic:=<topic_name>
+```
+
+and then,
+
+```sh
+ros2 bag play <rosbag_file_name>.mcap
+```
+
+### Python
+
+Will be available in an upcoming update
+
+## :pushpin: Todo list
+- [ ] Python support for GenZ-ICP
+
+## :pencil: Citation
+
+If you use our codes, please cite our paper ([arXiv][arXivLink], [IEEE *Xplore*][genzicpIEEElink])
+```
+@ARTICLE{lee2024genzicp,
+  author={Lee, Daehan and Lim, Hyungtae and Han, Soohee},
+  journal={IEEE Robotics and Automation Letters (RA-L)}, 
+  title={{GenZ-ICP: Generalizable and Degeneracy-Robust LiDAR Odometry Using an Adaptive Weighting}}, 
+  year={2024},
+  volume={},
+  number={},
+  pages={1-8},
+  keywords={Localization;Mapping;SLAM},
+  doi={10.1109/LRA.2024.3498779}
+}
+```
+
+[genzicpIEEElink]: https://ieeexplore.ieee.org/document/10753079
+
+## :pray: Acknowledgement
+
+Many thanks to [Ignacio Vizzo][nacholink] to provide outstanding LiDAR odometry codes!
+
+Please refer to [KISS-ICP][kissicplink] for more information
+
+[nacholink]: https://github.com/nachovizzo
+[kissicplink]: https://github.com/PRBonn/kiss-icp
+
+
+## :mailbox: Contact information
+
+If you have any questions, please do not hesitate to contact us
+* [Daehan Lee][dhlink] :envelope: daehanlee `at` postech `dot` ac `dot` kr
+* [Hyungtae Lim][htlink] :envelope: shapelim `at` mit `dot` edu
+
+[dhlink]: https://github.com/Daehan2Lee
+[htlink]: https://github.com/LimHyungTae

cpp/genz_icp/3rdparty/eigen/LICENSE

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+Eigen is primarily MPL2 licensed. See COPYING.MPL2 and these links:
+  http://www.mozilla.org/MPL/2.0/
+  http://www.mozilla.org/MPL/2.0/FAQ.html
+
+Some files contain third-party code under BSD or LGPL licenses, whence the other
+COPYING.* files here.
+
+All the LGPL code is either LGPL 2.1-only, or LGPL 2.1-or-later.
+For this reason, the COPYING.LGPL file contains the LGPL 2.1 text.
+
+If you want to guarantee that the Eigen code that you are #including is licensed
+under the MPL2 and possibly more permissive licenses (like BSD), #define this
+preprocessor symbol:
+  EIGEN_MPL2_ONLY
+For example, with most compilers, you could add this to your project CXXFLAGS:
+  -DEIGEN_MPL2_ONLY
+This will cause a compilation error to be generated if you #include any code that is
+LGPL licensed.