MILESTONE: add correct copyright stamps to src files

eval/eval_3D_reconstruct/align.py

@@ -0,0 +1,74 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
+import numpy as np
+import open3d as o3d
+import copy
+
+def draw_registration_result(source, target, transformation):
+    source_temp = copy.deepcopy(source)
+    target_temp = copy.deepcopy(target)
+    source_temp.paint_uniform_color([1, 0.706, 0])
+    target_temp.paint_uniform_color([0, 0.651, 0.929])
+    source_temp.transform(transformation)
+    o3d.visualization.draw_geometries([source_temp, target_temp],
+                                      zoom=0.4459,
+                                      front=[0.9288, -0.2951, -0.2242],
+                                      lookat=[1.6784, 2.0612, 1.4451],
+                                      up=[-0.3402, -0.9189, -0.1996])
+
+
+# Read the point cloud
+source = o3d.io.read_point_cloud("test_2.ply")
+target = o3d.io.read_point_cloud("test_1.ply")
+
+threshold = 10
+trans_init = np.eye(4)
+
+reg_p2p = o3d.pipelines.registration.registration_icp(
+    source, target, threshold, trans_init,
+    o3d.pipelines.registration.TransformationEstimationPointToPoint(),
+    o3d.pipelines.registration.ICPConvergenceCriteria(max_iteration=2000)
+    )
+print(reg_p2p)
+print("Transformation is:")
+print(reg_p2p.transformation)
+draw_registration_result(source, target, reg_p2p.transformation)
+
+exit(0)
+
+# Get the oriented bounding box
+obbox = o3d.geometry.AxisAlignedBoundingBox.create_from_points(pcd.points)
+# obbox = obbox.get_minimal_oriented_bounding_box()
+obbox.color = (1, 0, 0)
+print(obbox)
+
+# Visualize the point cloud
+o3d.visualization.draw_geometries([pcd, obbox])

eval/script/align_icp.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import os
 import numpy as np
 import open3d as o3d

eval/script/compute_model_metrics.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import os
 import numpy as np
 import copy

eval/script/compute_overview.py

@@ -1,5 +1,36 @@
 #!/bin/bash
 
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
+
 import argparse
 import os
 import sys

eval/script/compute_poses.py

@@ -1,5 +1,36 @@
 #!/bin/bash
 
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
+
 import argparse
 import os
 import sys

eval/script/compute_slam_metrics.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import argparse
 import os
 import sys

eval/script/io_stream.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import numpy as np
 import csv
 from scipy.spatial.transform import Rotation

eval/script/metrics.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import os
 import sys
 import numpy as np

eval/script/postpro.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import metrics
 
 import os

eval/script/transformations.py

@@ -1,3 +1,33 @@
+"""
+This file is part of TSLAM and distributed under the terms of the GPLv3.
+
+Copyright (C) 2023 Andrea Settimi <andrea dot settimi at epfl dot ch>, Hong-Bin Yang <hong dash bin dot yang at epfl dot ch> (IBOIS, EPFL)
+
+Redistribution and use in source and binary forms, with or without modification, are
+permitted provided that the following conditions are met:
+
+   1. Redistributions of source code must retain the above copyright notice, this list of
+      conditions and the following disclaimer.
+
+   2. Redistributions in binary form must reproduce the above copyright notice, this list
+      of conditions and the following disclaimer in the documentation and/or other materials
+      provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY Andrea Settimi and Hong-Bin Yang ''AS IS'' AND ANY EXPRESS OR IMPLIED
+WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those of the
+authors and should not be interpreted as representing official policies, either expressed
+or implied Andrea Settimi and Hong-Bin Yang.
+"""
+
 import math
 import quaternion
 import sys