Add readme and license

Author: contagon

CMakeLists.txt

@@ -23,6 +23,7 @@ FetchContent_Declare(
     tsl
     GIT_REPOSITORY https://github.com/Tessil/robin-map.git
     GIT_TAG v1.4.0
+	FIND_PACKAGE_ARGS CONFIG
 )
 FetchContent_MakeAvailable(tsl)
 

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Easton Potokar, Taylor Pool, and Michael Kaess
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+<div align="center">
+<h1>FORM</h1>
+<h3 style="font-weight: normal"><b>F</b>ixed-Lag <b>O</b>dometry with <b>R</b>eparative <b>M</b>apping</h4>
+<!-- <a href="https://github.com/rpl-cmu/form/blob/master/LICENSE"><img src="https://img.shields.io/github/license/rpl-cmu/form" /></a> -->
+</div>
+
+FORM is a LiDAR Odometry system that performs fixed-lag smoothing over a window of prior poses while repairing the map, all in real-time with minimal parameters.
+
+## Building
+
+FORM has minimal dependencies. You will need:
+- [eigen3](https://libeigen.gitlab.io/eigen/docs-nightly/)
+- [gtsam](https://github.com/borglab/gtsam/)
+- [tbb](https://github.com/uxlfoundation/oneTBB)
+- [tsl::robin_map](https://github.com/Tessil/robin-map) (will be pulled from source if not found)
+
+After that, building is as simple as:
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Running Experiments from Source
+All experiments are ran through [evalio](https://github.com/contagon/evalio/tree/master), our internal LiDAR-inertial odometry evaluation tool. Downloading the desired datasets is done as:
+```bash
+evalio dl newer_college_2020/*
+```
+FORM can then be installed as a python package (preferably in a virtual environment):
+```bash
+pip install -e .  # for pip usage
+uv sync --verbose # for uv usage
+```
+
+Finally, experiments can be run as (with the venv activated if needed):
+```bash
+evalio run -M form -c config/25.10.03_full.yaml
+```
+Datasets can be commented out in the config file if they haven't been downloaded. Results are saved in `evalio_results/25.10.03_full/` and stats can be viewed as:
+```bash
+evalio stats evalio_results/25.10.03_full/
+```
+
+## Roadmap
+- [ ] ROS Node
+- [ ] Merge wrapper into upstream evalio
+
+## Citation
+If you use FORM for any academic work, please cite:
+```
+TODO
+```