docs building in CI.

.gitattributes

@@ -1,5 +1,7 @@
 *.gif filter=lfs diff=lfs merge=lfs -text
+nvblox/tests/data/lidarply/**/*.ply filter=lfs diff=lfs merge=lfs -text
 docs/images/* filter=lfs diff=lfs merge=lfs -text
+nvblox_torch/nvblox_torch/tests/data/**/*.png filter=lfs diff=lfs merge=lfs -text
 
 # Sphinx-built site images: NOT LFS, but protect from line ending issues
 docs/_images/*.gif -filter -diff -merge binary

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

@@ -0,0 +1,89 @@
+name: 'Build and Test'
+description: 'Build nvblox Docker image and run tests'
+inputs:
+  platform:
+    description: 'Platform to build for'
+    required: true
+  cuda-version:
+    description: 'CUDA version'
+    required: true
+  ubuntu-version:
+    description: 'Ubuntu version'
+    required: true
+  gcc-sanitizer:
+    description: 'Build in debug mode with gcc sanitizers enabled'
+    required: false
+    default: 0
+  ngc-api-key:
+    description: 'NGC API Key for authentication'
+    required: true
+  run-cpp-tests:
+    description: 'Run C++ unit tests'
+    required: false
+    default: 'true'
+  run-python-tests:
+    description: 'Run Python unit tests'
+    required: false
+    default: 'true'
+  run-cuda-sanitizer:
+    description: 'Run CUDA sanitizer tests'
+    required: false
+    default: 'true'
+  run-realsense-tests:
+    description: 'Run Realsense example tests'
+    required: false
+    default: 'true'
+runs:
+  using: 'composite'
+  steps:
+    - name: NGC Login
+      uses: ./.github/actions/ngc-login
+      with:
+        ngc-api-key: ${{ inputs.ngc-api-key }}
+    - name: Set COMMON_NVBLOX_CI_ARGS env
+      shell: bash
+      run: |
+        # Store arguments used for all jobs in an environment variable.
+        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
+    # Note that the two build-image steps could be omitted since the build-and-test steps also build necessary images.
+    # However, we separate the steps to get cleaner logs and better timing granularity.
+    - name: Build dependency image
+      shell: bash
+      run: |
+        echo "::group::BUILD DEPENDENCY IMAGE"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-image deps
+        echo "::endgroup::"
+    - name: Build build image
+      shell: bash
+      run: |
+        echo "::group::BUILD BINARIES IMAGE"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-image build
+        echo "::endgroup::"
+    - name: Run CPP unit tests
+      if: inputs.run-cpp-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN CPP UNIT TESTS"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test cpp
+        echo "::endgroup::"
+    - name: Run Python unit tests
+      if: inputs.run-python-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN PYTHON UNIT TESTS"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test python
+        echo "::endgroup::"
+    - name: Run CUDA Sanitizer
+      if: inputs.run-cuda-sanitizer == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN CUDA SANITIZER"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test cuda-sanitizer
+        echo "::endgroup::"
+    - name: Run Realsense example test
+      if: inputs.run-realsense-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN REALSENSE EXAMPLE TEST"
+        time python3 ci/nvblox_ci.py $COMMON_NVBLOX_CI_ARGS --build-and-test realsense
+        echo "::endgroup::"

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

@@ -0,0 +1,21 @@
+name: 'NGC Login'
+description: 'Login to NVIDIA NGC Container Registry'
+inputs:
+  ngc-api-key:
+    description: 'NGC API Key for authentication'
+    required: false
+runs:
+  using: 'composite'
+  steps:
+    - name: NGC Login
+      shell: bash
+      run: |
+        # Only attempt NGC login if API key is available
+        if [ -n "${{ inputs.ngc-api-key }}" ]; then
+          echo "Logging into NGC registry..."
+          docker login -u \$oauthtoken -p ${{ inputs.ngc-api-key }} nvcr.io
+          echo "✅ Successfully logged into NGC registry"
+        else
+          echo "⚠️ NGC_API_KEY not available - skipping NGC login"
+          echo "This is normal for PRs from forks or when secrets are not configured"
+        fi

.github/workflows/gh-pages.yml

@@ -0,0 +1,35 @@
+name: GitHub Pages
+on:
+  push:
+    branches: ["public"]
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+permissions:
+  contents: write
+  pull-requests: write
+  checks: write
+  issues: read
+jobs:
+  deploy_docs:
+    name: Deploy the docs
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          clean: true
+          fetch-depth: 0
+          fetch-tags: true
+      - name: Build docs
+        run: |
+          cd docs
+          pip3 install -r requirements.txt
+          make SPHINXOPTS=-W multi-docs
+          touch ./_build/.nojekyll
+      - name: Deploy to gh-pages
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/_build

.github/workflows/premerge.yml

@@ -0,0 +1,129 @@
+name: nvblox premerge
+on:
+  pull_request:
+jobs:
+  ## ------------------------------------------
+  ## Linting and formatting
+  ## ------------------------------------------
+  lint_precommit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: false
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Install pre-commit
+        run: |
+          python -m pip install --upgrade pip
+          pip install pre-commit clang-format==14.0.6
+      - name: Run pre-commit
+        run: pre-commit run --all-files --show-diff-on-failure
+  ## ------------------------------------------
+  ## Build and test x86/CU11/U22
+  ## ------------------------------------------
+  premerge_x86_cu11_u22:
+    name: Build&Test x86-CU11-U22
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu11_u22 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-version: '11'
+          ubuntu-version: '22'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+  ## ------------------------------------------
+  ## Build and test x86/CU12/U22
+  ## ------------------------------------------
+  premerge_x86_cu12_u22:
+    name: Build&Test x86-CU12-U22
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu12_u22 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-version: '12'
+          ubuntu-version: '22'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+  ## ------------------------------------------
+  ## Build and test x86/CU13/U24
+  ## ------------------------------------------
+  premerge_x86_cu13_u24:
+    name: Build&Test x86-CU13-U24
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu13_u24 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-version: '13'
+          ubuntu-version: '24'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+          run-realsense-tests: false # TODO(dtingahl) make realsense docker build for cuda13
+  ## --------------------------------------------------------
+  ## Build and test x86/CU12/U22/gcc-sanitizer
+  ## --------------------------------------------------------
+  premerge_x86_cu12_u22_debug:
+    name: Build&Test x86-gcc-sanitizer
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu12_u22_debug - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-version: '12'
+          ubuntu-version: '22'
+          gcc-sanitizer: 1
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+          run-python-tests: false # TODO(dtingdahl) Enable these tests
+          run-realsense-tests: false #
+          run-cuda-sanitizer: false #
+  ## --------------------------------------------------------
+  ## Build docs
+  ## --------------------------------------------------------
+  build_docs:
+    name: Build docs
+    needs: [lint_precommit]
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          fetch-tags: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - name: Build docs
+        working-directory: ./docs
+        run: |
+          pip3 install -r requirements.txt
+          make multi-docs
+          touch ./_build/.nojekyll

.gitignore

@@ -58,6 +58,7 @@ TAGS
 # Test artifacts
 nvblox/tests/*.png
 nvblox/tests/*.nvblx
+nvblox/tests/data/test_output_data/
 
 # Built py distribution
 nvblox_torch/dist

.pre-commit-config.yaml

@@ -20,8 +20,7 @@ repos:
   - repo: https://github.com/doublify/pre-commit-clang-format
     rev: 62302476d0da01515660132d76902359bed0f782
     hooks:
-      - id: clang-format
-        entry: clang-format-14 -i
+      - id: clang-format # See premerge.yml for the clang-format version used.
         files: \.(c|cc|cpp|cxx|cu|cuh|h|hh|hpp|hxx|inl|proto|pb\.h|pb\.cc)$
   - repo: https://github.com/pylint-dev/pylint
     rev: v3.0.3

.pylintrc

@@ -222,7 +222,7 @@ inlinevar-rgx=^[a-z][a-z0-9_]*$
 class-rgx=^_?[A-Z][a-zA-Z0-9]*$
 
 # Regular expression matching correct module names
-module-rgx=^(_?[a-z][a-z0-9_]*|__init__|__about__)$
+module-rgx=[a-z_][a-z0-9_]{2,40}$
 
 # Regular expression matching correct method names
 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

@@ -4,8 +4,10 @@ All releases of the nvblox library will be documented in this file.
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/).
 
-## Unreleased (public branch)
+## [v.0.0.9] - Date: 2026-01-27
 
+- Support for LiDAR pointcloud as native input to integrateDepth.
+- Support for LiDAR motion compensation.
 - Refactor and optimization of blocks-to-update tracker.
 - Option for initializing freespace voxels to free.
 - Camera sensor extended with support for distortion (radial and tangential).

CMakeLists.txt

@@ -22,7 +22,7 @@ endif()
 # CMAKE_CUDA_ARCHITECTURES to a default (potentially non-native) value
 project(
   nvblox
-  VERSION 0.0.8
+  VERSION 0.0.9
   LANGUAGES CXX C CUDA)
 
 # ##############################################################################
@@ -41,19 +41,7 @@ endif()
 # Include file that defines functions for adding nvblox binary targets
 include(cmake/cuda/setup_compute_capability.cmake)
 include(cmake/nvblox_targets.cmake)
-
-# This option avoids any implementations using std::string in their signature in
-# header files Useful for Nvblox PyTorch wrapper, which requires the old
-# Pre-CXX11 ABI on x86
-if(BUILD_PYTORCH_WRAPPER AND (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64"
-                              OR CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64"))
-  option(PRE_CXX11_ABI_LINKABLE "Better support pre-C++11 ABI library users" ON)
-  message(STATUS "Building with pre-C++11 ABI support")
-else()
-  option(PRE_CXX11_ABI_LINKABLE "Better support pre-C++11 ABI library users"
-         OFF)
-  message(STATUS "Building without pre-C++11 ABI support")
-endif()
+include(cmake/setup_pytorch_cpp11_abi.cmake)
 
 if(BUILD_PYTORCH_WRAPPER)
   add_subdirectory(nvblox_torch/cpp)

README.md

@@ -13,7 +13,7 @@ either
 [C++](https://nvidia-isaac.github.io/nvblox/), or
 [ROS2](https://nvidia-isaac-ros.github.io/concepts/scene_reconstruction/nvblox/index.html).
 
-To get started with `nvblox`, see our [documentation site](https://nvidia-isaac.github.io/nvblox/)
+To get started with `nvblox`, see our [documentation site](https://nvidia-isaac.github.io/nvblox/v0.0.9/index.html)
 
 <p align="center">
   <img src="docs/images/3dmatch.gif" alt="3D reconstruction" width="400"/>