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‎.gitattributes‎

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*.gif filter=lfs diff=lfs merge=lfs -text
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nvblox/tests/data/lidarply/**/*.ply filter=lfs diff=lfs merge=lfs -text
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docs/images/* filter=lfs diff=lfs merge=lfs -text
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nvblox_torch/nvblox_torch/tests/data/**/*.png filter=lfs diff=lfs merge=lfs -text
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# Sphinx-built site images: NOT LFS, but protect from line ending issues
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docs/_images/*.gif -filter -diff -merge binary

‎.github/actions/build-and-test/action.yml‎

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name: 'Build and Test'
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description: 'Build nvblox Docker image and run tests'
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inputs:
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platform:
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description: 'Platform to build for'
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required: true
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cuda-version:
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description: 'CUDA version'
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required: true
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ubuntu-version:
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description: 'Ubuntu version'
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required: true
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gcc-sanitizer:
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description: 'Build in debug mode with gcc sanitizers enabled'
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required: false
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default: 0
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ngc-api-key:
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description: 'NGC API Key for authentication'
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required: true
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run-cpp-tests:
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description: 'Run C++ unit tests'
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required: false
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default: 'true'
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run-python-tests:
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description: 'Run Python unit tests'
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required: false
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default: 'true'
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run-cuda-sanitizer:
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description: 'Run CUDA sanitizer tests'
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required: false
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default: 'true'
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run-realsense-tests:
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description: 'Run Realsense example tests'
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required: false
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default: 'true'
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runs:
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using: 'composite'
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steps:
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- name: NGC Login
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uses: ./.github/actions/ngc-login
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with:
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ngc-api-key: ${{ inputs.ngc-api-key }}
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- name: Set COMMON_NVBLOX_CI_ARGS env
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shell: bash
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run: |
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# Store arguments used for all jobs in an environment variable.
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echo "COMMON_NVBLOX_CI_ARGS=--platform ${{ inputs.platform }} --cuda-version ${{ inputs.cuda-version }} --ubuntu-version ${{ inputs.ubuntu-version }} --gcc-sanitizer ${{ inputs.gcc-sanitizer }}" >> $GITHUB_ENV
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# Note that the two build-image steps could be omitted since the build-and-test steps also build necessary images.
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# However, we separate the steps to get cleaner logs and better timing granularity.
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- name: Build dependency image
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shell: bash
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run: |
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echo "::group::BUILD DEPENDENCY IMAGE"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-image deps
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echo "::endgroup::"
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- name: Build build image
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shell: bash
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run: |
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echo "::group::BUILD BINARIES IMAGE"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-image build
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echo "::endgroup::"
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- name: Run CPP unit tests
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if: inputs.run-cpp-tests == 'true'
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shell: bash
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run: |
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echo "::group::RUN CPP UNIT TESTS"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test cpp
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echo "::endgroup::"
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- name: Run Python unit tests
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if: inputs.run-python-tests == 'true'
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shell: bash
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run: |
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echo "::group::RUN PYTHON UNIT TESTS"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test python
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echo "::endgroup::"
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- name: Run CUDA Sanitizer
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if: inputs.run-cuda-sanitizer == 'true'
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shell: bash
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run: |
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echo "::group::RUN CUDA SANITIZER"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test cuda-sanitizer
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echo "::endgroup::"
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- name: Run Realsense example test
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if: inputs.run-realsense-tests == 'true'
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shell: bash
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run: |
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echo "::group::RUN REALSENSE EXAMPLE TEST"
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time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test realsense
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echo "::endgroup::"

‎.github/actions/ngc-login/action.yml‎

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name: 'NGC Login'
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description: 'Login to NVIDIA NGC Container Registry'
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inputs:
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ngc-api-key:
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description: 'NGC API Key for authentication'
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required: false
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runs:
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using: 'composite'
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steps:
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- name: NGC Login
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shell: bash
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run: |
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# Only attempt NGC login if API key is available
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if [ -n "${{ inputs.ngc-api-key }}" ]; then
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echo "Logging into NGC registry..."
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docker login -u \$oauthtoken -p ${{ inputs.ngc-api-key }} nvcr.io
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echo "✅ Successfully logged into NGC registry"
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else
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echo "⚠️ NGC_API_KEY not available - skipping NGC login"
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echo "This is normal for PRs from forks or when secrets are not configured"
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fi

‎.github/workflows/premerge.yml‎

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name: nvblox premerge
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on:
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pull_request:
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jobs:
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## ------------------------------------------
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## Linting and formatting
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## ------------------------------------------
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lint_precommit:
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name: pre-commit
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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lfs: false
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.10'
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- name: Install pre-commit
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run: |
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python -m pip install --upgrade pip
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pip install pre-commit clang-format==14.0.6
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- name: Run pre-commit
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run: pre-commit run --all-files --show-diff-on-failure
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## ------------------------------------------
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## Build and test x86/CU11/U22
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## ------------------------------------------
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premerge_x86_cu11_u22:
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name: Build&Test x86-CU11-U22
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needs: [lint_precommit]
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runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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lfs: true
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- name: premerge_x86_cu11_u22 - Unit tests
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uses: ./.github/actions/build-and-test
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with:
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platform: x86_64
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cuda-version: '11'
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ubuntu-version: '22'
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ngc-api-key: ${{ secrets.NGC_API_KEY }}
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## ------------------------------------------
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## Build and test x86/CU12/U22
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## ------------------------------------------
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premerge_x86_cu12_u22:
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name: Build&Test x86-CU12-U22
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needs: [lint_precommit]
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runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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lfs: true
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- name: premerge_x86_cu12_u22 - Unit tests
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uses: ./.github/actions/build-and-test
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with:
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platform: x86_64
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cuda-version: '12'
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ubuntu-version: '22'
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ngc-api-key: ${{ secrets.NGC_API_KEY }}
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## ------------------------------------------
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## Build and test x86/CU13/U24
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## ------------------------------------------
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premerge_x86_cu13_u24:
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name: Build&Test x86-CU13-U24
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needs: [lint_precommit]
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runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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lfs: true
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- name: premerge_x86_cu13_u24 - Unit tests
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uses: ./.github/actions/build-and-test
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with:
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platform: x86_64
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cuda-version: '13'
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ubuntu-version: '24'
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ngc-api-key: ${{ secrets.NGC_API_KEY }}
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run-realsense-tests: false # TODO(dtingahl) make realsense docker build for cuda13
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## --------------------------------------------------------
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## Build and test x86/CU12/U22/gcc-sanitizer
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## --------------------------------------------------------
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premerge_x86_cu12_u22_debug:
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name: Build&Test x86-gcc-sanitizer
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needs: [lint_precommit]
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runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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lfs: true
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- name: premerge_x86_cu12_u22_debug - Unit tests
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uses: ./.github/actions/build-and-test
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with:
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platform: x86_64
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cuda-version: '12'
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ubuntu-version: '22'
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gcc-sanitizer: 1
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ngc-api-key: ${{ secrets.NGC_API_KEY }}
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run-python-tests: false # TODO(dtingdahl) Enable these tests
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run-realsense-tests: false #
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run-cuda-sanitizer: false #

‎.gitignore‎

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# Test artifacts
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nvblox/tests/*.png
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nvblox/tests/*.nvblx
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nvblox/tests/data/test_output_data/
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# Built py distribution
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nvblox_torch/dist

‎.pre-commit-config.yaml‎

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- repo: https://github.com/doublify/pre-commit-clang-format
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rev: 62302476d0da01515660132d76902359bed0f782
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hooks:
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- id: clang-format
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entry: clang-format-14 -i
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- id: clang-format # See premerge.yml for the clang-format version used.
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files: \.(c|cc|cpp|cxx|cu|cuh|h|hh|hpp|hxx|inl|proto|pb\.h|pb\.cc)$
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- repo: https://github.com/pylint-dev/pylint
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rev: v3.0.3

‎.pylintrc‎

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class-rgx=^_?[A-Z][a-zA-Z0-9]*$
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# Regular expression matching correct module names
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module-rgx=^(_?[a-z][a-z0-9_]*|__init__|__about__)$
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module-rgx=[a-z_][a-z0-9_]{2,40}$
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# Regular expression matching correct method names
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method-rgx=(?x)^(?:(?P<exempt>_[a-z0-9_]+__|runTest|setUp|tearDown|setUpTestCase|tearDownTestCase|setupSelf|tearDownClass|setUpClass|(test|assert)_*[A-Z0-9][a-zA-Z0-9_]*|next)|(?P<camel_case>_{0,2}[A-Z][a-zA-Z0-9_]*)|(?P<snake_case>_{0,2}[a-z][a-z0-9_]*))$

‎CHANGELOG.md‎

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The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
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## Unreleased (public branch)
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## [v.0.0.9] - Date: 2026-01-27
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- Support for LiDAR pointcloud as native input to integrateDepth.
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- Support for LiDAR motion compensation.
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- Refactor and optimization of blocks-to-update tracker.
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- Option for initializing freespace voxels to free.
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- Camera sensor extended with support for distortion (radial and tangential).

‎CMakeLists.txt‎

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# CMAKE_CUDA_ARCHITECTURES to a default (potentially non-native) value
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project(
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nvblox
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VERSION 0.0.8
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VERSION 0.0.9
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LANGUAGES CXX C CUDA)
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# ##############################################################################
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# Include file that defines functions for adding nvblox binary targets
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include(cmake/cuda/setup_compute_capability.cmake)
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include(cmake/nvblox_targets.cmake)
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# This option avoids any implementations using std::string in their signature in
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# header files Useful for Nvblox PyTorch wrapper, which requires the old
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# Pre-CXX11 ABI on x86
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if(BUILD_PYTORCH_WRAPPER AND (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64"
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OR CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64"))
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option(PRE_CXX11_ABI_LINKABLE "Better support pre-C++11 ABI library users" ON)
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message(STATUS "Building with pre-C++11 ABI support")
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else()
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option(PRE_CXX11_ABI_LINKABLE "Better support pre-C++11 ABI library users"
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OFF)
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message(STATUS "Building without pre-C++11 ABI support")
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endif()
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include(cmake/setup_pytorch_cpp11_abi.cmake)
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if(BUILD_PYTORCH_WRAPPER)
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add_subdirectory(nvblox_torch/cpp)

‎README.md‎

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[C++](https://nvidia-isaac.github.io/nvblox/), or
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[ROS2](https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/index.html).
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To get started with `nvblox`, see our [documentation site](https://nvidia-isaac.github.io/nvblox/)
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To get started with `nvblox`, see our [documentation site](https://nvblox.gitlab-master-pages.nvidia.com/nvblox/)
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<p align="center">
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<img src="docs/images/3dmatch.gif" alt="3D reconstruction" width="400"/>

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