pipeline/mad#44
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Pull Request Overview
This PR adds MAD-ICP (Mean and Deviation-based ICP) pipeline support to the evalio project, integrating a novel LiDAR-only odometry method that extends KissICP with improved kd-tree representation for implicit normal computation.
- Adds MAD-ICP as a new pipeline option to the system
- Integrates the MAD-ICP source code with custom patches for compatibility
- Provides C++ bindings and Python interface for MAD-ICP functionality
Reviewed Changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| cpp/setup_pipelines.sh | Adds MAD-ICP repository cloning and patch application to the pipeline setup script |
| cpp/bindings/pipelines/mad_icp.patch | Contains CMake modifications, OpenMP handling, and API changes for MAD-ICP integration |
| cpp/bindings/pipelines/mad_icp.h | Implements the C++ wrapper class for MAD-ICP pipeline with evalio interface |
| cpp/bindings/pipelines/bindings.h | Adds MAD-ICP to the Python bindings registration |
| cpp/bindings/CMakeLists.txt | Includes MAD-ICP in the build system pipeline detection |
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| // Copy | ||
| std::vector<Eigen::Vector3d> points; | ||
| for (auto point : mm.points) { |
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Pass by const reference to avoid unnecessary copies. Change to for (const auto& point : mm.points).
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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Add in MAD-ICP