pipeline/ct-icp

[contagon]

This is a PR for integrating the pinned 2022 version of CT-ICP.

There has been a number of updates to CT-ICP since then (and maybe we'll have an alternate pipeline holding a newer version), but this version can recreate the results from their 2022 ICRA paper.

[Copilot]

Pull Request Overview

This PR integrates the 2022 version of CT-ICP (Continuous-Time Iterative Closest Point) as a new pipeline. The integration adds support for a LiDAR-only odometry method that performs continuous-time ICP over a small window of scans for more accurate motion compensation.

• Updates project version from 0.1.0 to 0.3.0 across configuration files
• Adds CT-ICP pipeline with comprehensive parameter configuration support
• Reorganizes dependencies in vcpkg.json for better structure

Reviewed Changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
vcpkg.json	Version update and dependency reorganization, moving name/version fields to top
pyproject.toml	Adds vcpkg.json to version bump configuration
cpp/setup_pipelines.sh	Adds CT-ICP repository cloning and patch application
cpp/bindings/pipelines/ct_icp.h	New pipeline implementation with parameter handling and sensor integration
cpp/bindings/pipelines/bindings.h	Registers CT-ICP pipeline with Python bindings
cpp/bindings/CMakeLists.txt	Adds CT-ICP pipeline to build system

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[Copilot]

Pull Request Overview

Copilot reviewed 10 out of 10 changed files in this pull request and generated 1 comment.

Comments suppressed due to low confidence (1)

cpp/bindings/pipelines/ct_icp.h:1

• Avoid using 'using namespace std;' in header files as it pollutes the global namespace for all files that include this header. Consider using specific using declarations (e.g., 'using std::string;') or fully qualified names instead.

#pragma once

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[contagon]

This PR got a bit out of hand, also now includes getting OpenMP to work on the mac build! 🎉 This removed needing to check if openmp was found in all the pipelines, and should speed up mac wheels.