Refactor project structure to facilitate ROS development

saurabh1002 · Jan 13, 2023 · a31f539 · a31f539
1 parent 743fa5a
commit a31f539
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Showing 68 changed files with 70 additions and 78 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,28 +21,18 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 cmake_minimum_required(VERSION 3.16...3.24)
-project(kiss_icp VERSION 0.0.13 LANGUAGES CXX)
+project(kiss_icp VERSION 0.0.14 LANGUAGES CXX)
 
-# Setup build options
-option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" ON)
+# Set build options
 option(USE_SYSTEM_PYBIND11 "Use system pre-installed pybind11" ON)
-option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
 option(BUILD_PYTHON_BINDINGS "Build the python module" OFF)
-mark_as_advanced(BUILD_PYTHON_BINDINGS)
 
 # Set build type
 set(CMAKE_BUILD_TYPE Release)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_STANDARD 17)
 
-# Find Dependencies from the 3rdparty directory.
-include(3rdparty/find_dependencies.cmake)
-include(3rdparty/skbuild.cmake)
-
-add_subdirectory(src/kiss_icp/cpp)
+add_subdirectory(src/cpp)
 if(BUILD_PYTHON_BINDINGS)
-  add_subdirectory(src/kiss_icp/pybind)
+  add_subdirectory(src/pybind)
 endif()
diff --git a/MANIFEST.in b/MANIFEST.in
@@ -1,8 +1,8 @@
-recursive-include src/kiss_icp *.py
-recursive-include src/kiss_icp *.yaml
-recursive-include src/kiss_icp *.cpp
-recursive-include src/kiss_icp *.hpp
-recursive-include src/kiss_icp *.h
+recursive-include src *.py
+recursive-include src *.yaml
+recursive-include src *.cpp
+recursive-include src *.hpp
+recursive-include src *.h
 global-include CMakeLists.txt
 global-include LICENSE
 global-include *.cmake
diff --git a/README.md b/README.md
@@ -99,3 +99,8 @@ If you use this library for any academic work, please cite our original [paper](
   codeurl   = {https://github.com/PRBonn/kiss-icp},
 }
 ```
+
+## Star History
+
+[![Star History Chart](https://api.star-history.com/svg?repos=PRBonn/kiss-icp&type=Date)](https://star-history.com/#PRBonn/kiss-icp&Date)
+
diff --git a/evaluation/.gitignore → eval/.gitignore b/evaluation/.gitignore → eval/.gitignore
diff --git a/evaluation/README.md → eval/README.md b/evaluation/README.md → eval/README.md
diff --git a/evaluation/kiss_icp_eval.py → eval/kiss_icp_eval.py b/evaluation/kiss_icp_eval.py → eval/kiss_icp_eval.py
diff --git a/evaluation/kitti.ipynb → eval/kitti.ipynb b/evaluation/kitti.ipynb → eval/kitti.ipynb
diff --git a/evaluation/kitti_raw.ipynb → eval/kitti_raw.ipynb b/evaluation/kitti_raw.ipynb → eval/kitti_raw.ipynb
diff --git a/evaluation/mulran.ipynb → eval/mulran.ipynb b/evaluation/mulran.ipynb → eval/mulran.ipynb
diff --git a/evaluation/newer_college.ipynb → eval/newer_college.ipynb b/evaluation/newer_college.ipynb → eval/newer_college.ipynb
diff --git a/setup.cfg b/setup.cfg
@@ -1,6 +1,6 @@
 [metadata]
 name = kiss_icp
-version = 0.0.13
+version = 0.0.14
 author = Ignacio Vizzo
 author_email = [email protected]
 description = Simple yet effective 3D LiDAR-Odometry registration pipeline

diff --git a/setup.py b/setup.py
@@ -59,9 +59,9 @@ def cmd_exists(cmd):
 
 with skbuild_isolated_context():
     setup(
-        packages=["kiss_icp"] if sys.argv[1] == "develop" else find_packages("src"),
-        package_dir={"": "src"},
-        cmake_install_dir="src/kiss_icp/pybind/",
+        packages=["kiss_icp"] if sys.argv[1] == "develop" else find_packages("src/python"),
+        package_dir={"": "src/python"},
+        cmake_install_dir="src/python/kiss_icp/pybind/",
         cmake_args=["-DBUILD_PYTHON_BINDINGS:BOOL=ON"],
         entry_points={"console_scripts": ["kiss_icp_pipeline=kiss_icp.tools.cmd:run"]},
         include_package_data=False,

diff --git a/3rdparty/eigen/LICENSE → src/cpp/3rdparty/eigen/LICENSE b/3rdparty/eigen/LICENSE → src/cpp/3rdparty/eigen/LICENSE
diff --git a/3rdparty/eigen/eigen.cmake → src/cpp/3rdparty/eigen/eigen.cmake b/3rdparty/eigen/eigen.cmake → src/cpp/3rdparty/eigen/eigen.cmake
diff --git a/3rdparty/find_dependencies.cmake → src/cpp/3rdparty/find_dependencies.cmake b/3rdparty/find_dependencies.cmake → src/cpp/3rdparty/find_dependencies.cmake
@@ -32,6 +32,9 @@ if(CMAKE_VERSION VERSION_GREATER 3.24)
   cmake_policy(SET CMP0135 OLD)
 endif()
 
+# tsl_robin is fast to fetch, don't ask for system-wise installation
+include(${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake)
+
 if(USE_SYSTEM_EIGEN3)
   find_package(Eigen3 QUIET NO_MODULE)
 endif()
@@ -40,19 +43,6 @@ if(NOT USE_SYSTEM_EIGEN3 OR NOT EIGEN3_FOUND)
   include(${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake)
 endif()
 
-if(BUILD_PYTHON_BINDINGS)
-  if(USE_SYSTEM_PYBIND11)
-    find_package(pybind11 QUIET)
-  endif()
-  if(NOT USE_SYSTEM_PYBIND11 OR NOT pybind11_FOUND)
-    set(USE_SYSTEM_PYBIND11 OFF)
-    include(${CMAKE_CURRENT_LIST_DIR}/pybind11/pybind11.cmake)
-  endif()
-endif()
-
-# tsl_robin is fast to fetch, don't ask for system-wise installation
-include(${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake)
-
 # tbb needs to be statically linked, so, also do it always :)
 if(USE_SYSTEM_TBB)
   find_package(TBB QUIET NO_MODULE)
@@ -61,3 +51,4 @@ if(NOT USE_SYSTEM_TBB OR NOT TBB_FOUND)
   set(USE_SYSTEM_TBB OFF)
   include(${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake)
 endif()
+
diff --git a/3rdparty/tbb/LICENSE → src/cpp/3rdparty/tbb/LICENSE b/3rdparty/tbb/LICENSE → src/cpp/3rdparty/tbb/LICENSE
diff --git a/3rdparty/tbb/tbb.cmake → src/cpp/3rdparty/tbb/tbb.cmake b/3rdparty/tbb/tbb.cmake → src/cpp/3rdparty/tbb/tbb.cmake
diff --git a/3rdparty/tsl_robin/LICENSE → src/cpp/3rdparty/tsl_robin/LICENSE b/3rdparty/tsl_robin/LICENSE → src/cpp/3rdparty/tsl_robin/LICENSE
diff --git a/3rdparty/tsl_robin/tsl_robin.cmake → src/cpp/3rdparty/tsl_robin/tsl_robin.cmake b/3rdparty/tsl_robin/tsl_robin.cmake → src/cpp/3rdparty/tsl_robin/tsl_robin.cmake
diff --git a/src/kiss_icp/cpp/CMakeLists.txt → src/cpp/CMakeLists.txt b/src/kiss_icp/cpp/CMakeLists.txt → src/cpp/CMakeLists.txt
@@ -20,5 +20,18 @@
 # 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.
+cmake_minimum_required(VERSION 3.16...3.24)
+project(kiss_icp VERSION 0.0.14 LANGUAGES CXX)
+
+# Setup build options
+option(USE_SYSTEM_EIGEN3 "Use system pre-installed eigen3" ON)
+option(USE_SYSTEM_TBB "Use system pre-installed oneAPI/tbb" ON)
+
+# Set build type (repeat here for C++ only consumers)
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+include(3rdparty/find_dependencies.cmake)
 add_subdirectory(kiss_icp)
 add_subdirectory(metrics)
diff --git a/src/kiss_icp/pybind/CMakeLists.txt → src/cpp/kiss_icp/CMakeLists.txt b/src/kiss_icp/pybind/CMakeLists.txt → src/cpp/kiss_icp/CMakeLists.txt
@@ -20,6 +20,12 @@
 # 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.
-pybind11_add_module(kiss_icp_pybind MODULE kiss_icp_pybind.cpp)
-target_link_libraries(kiss_icp_pybind PRIVATE kiss_icp metrics)
-install(TARGETS kiss_icp_pybind DESTINATION .)
+add_library(kiss_icp STATIC)
+add_library(kiss_icp::kiss_icp ALIAS kiss_icp)
+target_sources(kiss_icp PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp Preprocessing.cpp)
+target_compile_features(kiss_icp PRIVATE cxx_std_17)
+target_compile_options(kiss_icp PRIVATE -Wall -Wextra)
+target_include_directories(
+  kiss_icp PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
+                                                      $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(kiss_icp PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb)
diff --git a/src/kiss_icp/cpp/kiss_icp/Deskew.cpp → src/cpp/kiss_icp/Deskew.cpp b/src/kiss_icp/cpp/kiss_icp/Deskew.cpp → src/cpp/kiss_icp/Deskew.cpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Deskew.hpp → src/cpp/kiss_icp/Deskew.hpp b/src/kiss_icp/cpp/kiss_icp/Deskew.hpp → src/cpp/kiss_icp/Deskew.hpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Map.hpp → src/cpp/kiss_icp/Map.hpp b/src/kiss_icp/cpp/kiss_icp/Map.hpp → src/cpp/kiss_icp/Map.hpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Preprocessing.cpp → src/cpp/kiss_icp/Preprocessing.cpp b/src/kiss_icp/cpp/kiss_icp/Preprocessing.cpp → src/cpp/kiss_icp/Preprocessing.cpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Preprocessing.hpp → src/cpp/kiss_icp/Preprocessing.hpp b/src/kiss_icp/cpp/kiss_icp/Preprocessing.hpp → src/cpp/kiss_icp/Preprocessing.hpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Registration.cpp → src/cpp/kiss_icp/Registration.cpp b/src/kiss_icp/cpp/kiss_icp/Registration.cpp → src/cpp/kiss_icp/Registration.cpp
diff --git a/src/kiss_icp/cpp/kiss_icp/Registration.hpp → src/cpp/kiss_icp/Registration.hpp b/src/kiss_icp/cpp/kiss_icp/Registration.hpp → src/cpp/kiss_icp/Registration.hpp
diff --git a/src/kiss_icp/cpp/kiss_icp/VoxelHashMap.cpp → src/cpp/kiss_icp/VoxelHashMap.cpp b/src/kiss_icp/cpp/kiss_icp/VoxelHashMap.cpp → src/cpp/kiss_icp/VoxelHashMap.cpp
@@ -24,7 +24,6 @@
 
 #include <Eigen/Core>
 #include <algorithm>
-#include <iostream>
 #include <limits>
 #include <vector>
 
@@ -37,11 +36,11 @@ std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d>
     for (const auto &point : frame) {
         const auto voxel = Voxel(point, voxel_size);
         if (grid.contains(voxel)) continue;
-        grid[voxel] = point;
+        grid.insert({voxel, point});
     }
     std::vector<Eigen::Vector3d> frame_dowsampled;
-    frame_dowsampled.reserve(frame.size());
-    for (const auto &[voxel, point] : grid) {
+    frame_dowsampled.reserve(grid.size());
+    for (const auto &[_, point] : grid) {
         frame_dowsampled.emplace_back(point);
     }
     return frame_dowsampled;

diff --git a/src/kiss_icp/cpp/kiss_icp/VoxelHashMap.hpp → src/cpp/kiss_icp/VoxelHashMap.hpp b/src/kiss_icp/cpp/kiss_icp/VoxelHashMap.hpp → src/cpp/kiss_icp/VoxelHashMap.hpp
@@ -63,8 +63,8 @@ struct VoxelBlock {
         points.emplace_back(point);
     }
 
-    [[nodiscard]] inline bool IsFull() const { return num_points_ == points.size(); }
-    [[nodiscard]] inline size_t size() const { return points.size(); }
+    inline bool IsFull() const { return static_cast<size_t>(num_points_) == points.size(); }
+    inline size_t size() const { return points.size(); }
 
     std::vector<Eigen::Vector3d> points;
     int num_points_{};

diff --git a/src/kiss_icp/cpp/kiss_icp/CMakeLists.txt → src/cpp/metrics/CMakeLists.txt b/src/kiss_icp/cpp/kiss_icp/CMakeLists.txt → src/cpp/metrics/CMakeLists.txt
@@ -20,9 +20,10 @@
 # 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.
-add_library(kiss_icp Registration.cpp Deskew.cpp VoxelHashMap.cpp Preprocessing.cpp)
+add_library(metrics STATIC)
+add_library(kiss_icp::metrics ALIAS metrics)
+target_sources(metrics PRIVATE Metrics.cpp)
 target_include_directories(
-  kiss_icp PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
-  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>)
-target_link_libraries(kiss_icp Eigen3::Eigen tsl::robin_map TBB::tbb)
-target_compile_features(kiss_icp PRIVATE cxx_std_17)
+  metrics PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
+                                                     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+target_link_libraries(metrics PUBLIC Eigen3::Eigen)
diff --git a/src/kiss_icp/cpp/metrics/metrics.cpp → src/cpp/metrics/Metrics.cpp b/src/kiss_icp/cpp/metrics/metrics.cpp → src/cpp/metrics/Metrics.cpp
@@ -20,7 +20,7 @@
 // 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.
-#include "metrics.hpp"
+#include "Metrics.hpp"
 
 #include <Eigen/Core>
 #include <tuple>

diff --git a/src/kiss_icp/cpp/metrics/metrics.hpp → src/cpp/metrics/Metrics.hpp b/src/kiss_icp/cpp/metrics/metrics.hpp → src/cpp/metrics/Metrics.hpp
diff --git a/src/kiss_icp/cpp/metrics/CMakeLists.txt b/src/kiss_icp/cpp/metrics/CMakeLists.txt
diff --git a/3rdparty/skbuild.cmake → src/pybind/CMakeLists.txt b/3rdparty/skbuild.cmake → src/pybind/CMakeLists.txt
@@ -37,3 +37,15 @@ if(${SKBUILD})
   set(ignore ${Python_FIND_REGISTRY})
   set(ignore ${Python_ROOT_DIR})
 endif()
+
+if(USE_SYSTEM_PYBIND11)
+  find_package(pybind11 QUIET)
+endif()
+if(NOT USE_SYSTEM_PYBIND11 OR NOT pybind11_FOUND)
+  set(USE_SYSTEM_PYBIND11 OFF)
+  include(${CMAKE_CURRENT_LIST_DIR}/pybind11/pybind11.cmake)
+endif()
+
+pybind11_add_module(kiss_icp_pybind MODULE kiss_icp_pybind.cpp)
+target_link_libraries(kiss_icp_pybind PRIVATE kiss_icp::kiss_icp kiss_icp::metrics)
+install(TARGETS kiss_icp_pybind DESTINATION .)
diff --git a/src/kiss_icp/pybind/kiss_icp_pybind.cpp → src/pybind/kiss_icp_pybind.cpp b/src/kiss_icp/pybind/kiss_icp_pybind.cpp → src/pybind/kiss_icp_pybind.cpp
@@ -34,7 +34,7 @@
 #include "kiss_icp/Map.hpp"
 #include "kiss_icp/Preprocessing.hpp"
 #include "kiss_icp/VoxelHashMap.hpp"
-#include "metrics/metrics.hpp"
+#include "metrics/Metrics.hpp"
 #include "stl_vector_eigen.h"
 
 namespace py = pybind11;

diff --git a/3rdparty/pybind11/LICENSE → src/pybind/pybind11/LICENSE b/3rdparty/pybind11/LICENSE → src/pybind/pybind11/LICENSE
diff --git a/3rdparty/pybind11/pybind11.cmake → src/pybind/pybind11/pybind11.cmake b/3rdparty/pybind11/pybind11.cmake → src/pybind/pybind11/pybind11.cmake
diff --git a/src/kiss_icp/pybind/stl_vector_eigen.h → src/pybind/stl_vector_eigen.h b/src/kiss_icp/pybind/stl_vector_eigen.h → src/pybind/stl_vector_eigen.h
diff --git a/src/kiss_icp/__init__.py → src/python/kiss_icp/__init__.py b/src/kiss_icp/__init__.py → src/python/kiss_icp/__init__.py
@@ -20,4 +20,4 @@
 # 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.
-__version__ = "0.0.13"
+__version__ = "0.0.14"
diff --git a/src/kiss_icp/config.py → src/python/kiss_icp/config.py b/src/kiss_icp/config.py → src/python/kiss_icp/config.py
diff --git a/src/kiss_icp/config/advanced.yaml → src/python/kiss_icp/config/advanced.yaml b/src/kiss_icp/config/advanced.yaml → src/python/kiss_icp/config/advanced.yaml
diff --git a/src/kiss_icp/config/default.yaml → src/python/kiss_icp/config/default.yaml b/src/kiss_icp/config/default.yaml → src/python/kiss_icp/config/default.yaml
diff --git a/src/kiss_icp/datasets/__init__.py → src/python/kiss_icp/datasets/__init__.py b/src/kiss_icp/datasets/__init__.py → src/python/kiss_icp/datasets/__init__.py
diff --git a/src/kiss_icp/datasets/apollo.py → src/python/kiss_icp/datasets/apollo.py b/src/kiss_icp/datasets/apollo.py → src/python/kiss_icp/datasets/apollo.py
diff --git a/src/kiss_icp/datasets/boreas.py → src/python/kiss_icp/datasets/boreas.py b/src/kiss_icp/datasets/boreas.py → src/python/kiss_icp/datasets/boreas.py
diff --git a/src/kiss_icp/datasets/generic.py → src/python/kiss_icp/datasets/generic.py b/src/kiss_icp/datasets/generic.py → src/python/kiss_icp/datasets/generic.py
diff --git a/src/kiss_icp/datasets/kitti.py → src/python/kiss_icp/datasets/kitti.py b/src/kiss_icp/datasets/kitti.py → src/python/kiss_icp/datasets/kitti.py
diff --git a/src/kiss_icp/datasets/kitti_raw.py → src/python/kiss_icp/datasets/kitti_raw.py b/src/kiss_icp/datasets/kitti_raw.py → src/python/kiss_icp/datasets/kitti_raw.py
diff --git a/src/kiss_icp/datasets/mulran.py → src/python/kiss_icp/datasets/mulran.py b/src/kiss_icp/datasets/mulran.py → src/python/kiss_icp/datasets/mulran.py
diff --git a/src/kiss_icp/datasets/ncd.py → src/python/kiss_icp/datasets/ncd.py b/src/kiss_icp/datasets/ncd.py → src/python/kiss_icp/datasets/ncd.py
diff --git a/src/kiss_icp/datasets/nclt.py → src/python/kiss_icp/datasets/nclt.py b/src/kiss_icp/datasets/nclt.py → src/python/kiss_icp/datasets/nclt.py
diff --git a/src/kiss_icp/datasets/nuscenes.py → src/python/kiss_icp/datasets/nuscenes.py b/src/kiss_icp/datasets/nuscenes.py → src/python/kiss_icp/datasets/nuscenes.py
diff --git a/src/kiss_icp/datasets/paris_luco.py → src/python/kiss_icp/datasets/paris_luco.py b/src/kiss_icp/datasets/paris_luco.py → src/python/kiss_icp/datasets/paris_luco.py
diff --git a/src/kiss_icp/datasets/rosbag.py → src/python/kiss_icp/datasets/rosbag.py b/src/kiss_icp/datasets/rosbag.py → src/python/kiss_icp/datasets/rosbag.py
diff --git a/src/kiss_icp/datasets/rosbag2.py → src/python/kiss_icp/datasets/rosbag2.py b/src/kiss_icp/datasets/rosbag2.py → src/python/kiss_icp/datasets/rosbag2.py
diff --git a/src/kiss_icp/deskew.py → src/python/kiss_icp/deskew.py b/src/kiss_icp/deskew.py → src/python/kiss_icp/deskew.py
diff --git a/src/kiss_icp/mapping.py → src/python/kiss_icp/mapping.py b/src/kiss_icp/mapping.py → src/python/kiss_icp/mapping.py
diff --git a/src/kiss_icp/metrics.py → src/python/kiss_icp/metrics.py b/src/kiss_icp/metrics.py → src/python/kiss_icp/metrics.py
diff --git a/src/kiss_icp/odometry.py → src/python/kiss_icp/odometry.py b/src/kiss_icp/odometry.py → src/python/kiss_icp/odometry.py
diff --git a/src/kiss_icp/pipeline.py → src/python/kiss_icp/pipeline.py b/src/kiss_icp/pipeline.py → src/python/kiss_icp/pipeline.py
diff --git a/src/kiss_icp/preprocess.py → src/python/kiss_icp/preprocess.py b/src/kiss_icp/preprocess.py → src/python/kiss_icp/preprocess.py
diff --git a/src/kiss_icp/tools/__init__.py → src/python/kiss_icp/tools/__init__.py b/src/kiss_icp/tools/__init__.py → src/python/kiss_icp/tools/__init__.py
diff --git a/src/kiss_icp/tools/cmd.py → src/python/kiss_icp/tools/cmd.py b/src/kiss_icp/tools/cmd.py → src/python/kiss_icp/tools/cmd.py
diff --git a/src/kiss_icp/tools/pipeline_results.py → ...python/kiss_icp/tools/pipeline_results.py b/src/kiss_icp/tools/pipeline_results.py → ...python/kiss_icp/tools/pipeline_results.py
diff --git a/src/kiss_icp/tools/progress_bar.py → src/python/kiss_icp/tools/progress_bar.py b/src/kiss_icp/tools/progress_bar.py → src/python/kiss_icp/tools/progress_bar.py
diff --git a/src/kiss_icp/tools/visualizer.py → src/python/kiss_icp/tools/visualizer.py b/src/kiss_icp/tools/visualizer.py → src/python/kiss_icp/tools/visualizer.py
@@ -106,7 +106,6 @@ def _initialize_visualizer(self):
             "\t[SPACE] to pause/start\n"
             "\t  [ESC] to exit\n"
             "\t    [N] to step\n"
-            "\t    [R] to toggle on/off the raw frame\n"
             "\t    [F] to toggle on/off the input cloud to the pipeline\n"
             "\t    [K] to toggle on/off the subsbampled frame\n"
             "\t    [M] to toggle on/off the local map\n"

diff --git a/src/kiss_icp/voxelization.py → src/python/kiss_icp/voxelization.py b/src/kiss_icp/voxelization.py → src/python/kiss_icp/voxelization.py