Remove personal workspaces

.pre-commit-config.yaml

@@ -3,7 +3,9 @@ repos:
     rev: v4.4.0
     hooks:
     -   id: trailing-whitespace
+        exclude: \.patch$
     -   id: end-of-file-fixer
+        exclude: \.patch$
     -   id: check-yaml
     -   id: check-added-large-files
 -   repo: https://github.com/pre-commit/mirrors-clang-format

cpp/kiss_icp/3rdparty/eigen/eigen.cmake

@@ -21,18 +21,15 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-# TODO: Yet another manual release dne by nacho. This should be updated whenever the Eigen team
-# release a new version that is not 3.4. That version does not include this necessary changes:
-# - https://gitlab.com/libeigen/eigen/-/merge_requests/893/diffs
-
 set(EIGEN_BUILD_DOC OFF CACHE BOOL "Don't build Eigen docs")
 set(EIGEN_BUILD_TESTING OFF CACHE BOOL "Don't build Eigen tests")
 set(EIGEN_BUILD_PKGCONFIG OFF CACHE BOOL "Don't build Eigen pkg-config")
 set(EIGEN_BUILD_BLAS OFF CACHE BOOL "Don't build blas module")
 set(EIGEN_BUILD_LAPACK OFF CACHE BOOL "Don't build lapack module")
 
 include(FetchContent)
-FetchContent_Declare(eigen URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
+FetchContent_Declare(eigen URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
+                     PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_LIST_DIR}/eigen.patch UPDATE_DISCONNECTED 1)
 FetchContent_GetProperties(eigen)
 if(NOT eigen_POPULATED)
   FetchContent_Populate(eigen)

cpp/kiss_icp/3rdparty/eigen/eigen.patch

@@ -0,0 +1,74 @@
+commit cf82186416d04ea5df2a397d8fe09dc78d40ca65
+Author: Antonio Sánchez <cantonios@google.com>
+Date:   Sat Mar 5 05:49:45 2022 +0000
+
+    Adds new CMake Options for controlling build components.
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index de1c23e91..0af36a53a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -477,6 +477,9 @@ if(EIGEN_BUILD_TESTING)
+   add_subdirectory(failtest)
+ endif()
+
++include(CMakeDetermineFortranCompiler)
++option(EIGEN_BUILD_BLAS "Toggles the building of the Eigen Blas library" ${CMAKE_Fortran_COMPILER})
++option(EIGEN_BUILD_LAPACK "Toggles the building of the included Eigen LAPACK library" ${CMAKE_Fortran_COMPILER})
+ if(EIGEN_LEAVE_TEST_IN_ALL_TARGET)
+   add_subdirectory(blas)
+   add_subdirectory(lapack)
+@@ -611,6 +614,8 @@ set_target_properties (eigen PROPERTIES EXPORT_NAME Eigen)
+
+ install (TARGETS eigen EXPORT Eigen3Targets)
+
++option(EIGEN_BUILD_CMAKE_PACKAGE "Enables the creation of EigenConfig.cmake and related files" ON)
++if(EIGEN_BUILD_CMAKE_PACKAGE)
+ configure_package_config_file (
+   ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3Config.cmake.in
+   ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
+@@ -655,6 +660,7 @@ install (FILES ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
+ # Add uninstall target
+ add_custom_target ( uninstall
+     COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/EigenUninstall.cmake)
++endif()
+
+ if (EIGEN_SPLIT_TESTSUITE)
+   ei_split_testsuite("${EIGEN_SPLIT_TESTSUITE}")
+diff --git a/blas/CMakeLists.txt b/blas/CMakeLists.txt
+index 8d3cb86dc..c530957fb 100644
+--- a/blas/CMakeLists.txt
++++ b/blas/CMakeLists.txt
+@@ -1,6 +1,7 @@
+
+ project(EigenBlas CXX)
+
++if(EIGEN_BUILD_BLAS)
+ include(CheckLanguage)
+ check_language(Fortran)
+ if(CMAKE_Fortran_COMPILER)
+@@ -59,4 +60,4 @@ if(EIGEN_BUILD_TESTING)
+ endif()
+
+ endif()
+-
++endif()
+diff --git a/lapack/CMakeLists.txt b/lapack/CMakeLists.txt
+index c8ca64001..8d6d75401 100644
+--- a/lapack/CMakeLists.txt
++++ b/lapack/CMakeLists.txt
+@@ -1,5 +1,7 @@
+ project(EigenLapack CXX)
+
++if(EIGEN_BUILD_LAPACK AND EIGEN_BUILD_BLAS)
++
+ include(CheckLanguage)
+ check_language(Fortran)
+ if(CMAKE_Fortran_COMPILER)
+@@ -457,3 +459,6 @@ if(EXISTS ${eigen_full_path_to_testing_lapack})
+
+ endif()
+
++elseif(EIGEN_BUILD_LAPACK AND NOT EIGEN_BUILD_BLAS)
++ message(FATAL_ERROR "EIGEN_BUILD_LAPACK requires EIGEN_BUILD_BLAS")
++endif() #EIGEN_BUILD_LAPACK

cpp/kiss_icp/3rdparty/sophus/sophus.cmake

@@ -25,6 +25,7 @@ set(SOPHUS_USE_BASIC_LOGGING ON CACHE BOOL "Don't use fmt for Sophus libraru")
 set(BUILD_SOPHUS_TESTS OFF CACHE BOOL "Don't build Sophus tests")
 set(BUILD_SOPHUS_EXAMPLES OFF CACHE BOOL "Don't build Sophus Examples")
 
-# TODO: after https://github.com/strasdat/Sophus/pull/502 gets merged go back to mainstream
-FetchContent_Declare(sophus SYSTEM URL https://github.com/nachovizzo/Sophus/archive/refs/tags/1.22.11.tar.gz)
+FetchContent_Declare(sophus SYSTEM URL https://github.com/strasdat/Sophus/archive/refs/tags/1.22.10.tar.gz
+                     PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_LIST_DIR}/sophus.patch UPDATE_DISCONNECTED 1)
+
 FetchContent_MakeAvailable(sophus)

cpp/kiss_icp/3rdparty/sophus/sophus.patch

@@ -0,0 +1,13 @@
+diff --git a/sophus/common.hpp b/sophus/common.hpp
+index 5634d35b..56a1b590 100644
+--- a/sophus/common.hpp
++++ b/sophus/common.hpp
+@@ -18,7 +18,7 @@
+ #define SOPHUS_FMT_CSTR(description, ...) description
+ #define SOPHUS_FMT_STR(description, ...) std::string(description)
+ #define SOPHUS_FMT_PRINT(description, ...) std::printf("%s\n", description)
+-#define SOPHUS_FMT_ARG(arg)
++#define SOPHUS_FMT_ARG(arg) arg
+
+ #else  // !SOPHUS_USE_BASIC_LOGGING
+