Update Keyservers as SKS Keyservers are deprecated

.clang-format

@@ -0,0 +1,38 @@
+---
+BasedOnStyle: Mozilla
+AccessModifierOffset: '-2'
+AlignAfterOpenBracket: Align
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: false
+AllowAllConstructorInitializersOnNextLine: false
+AllowShortBlocksOnASingleLine: true
+AllowShortFunctionsOnASingleLine: All
+AlwaysBreakAfterReturnType: AllDefinitions
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: BeforeColon
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: true
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace: true
+  AfterObjCDeclaration: true
+  AfterStruct:     true
+  AfterUnion:      true
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    true
+  SplitEmptyFunction: false
+ColumnLimit: 79
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+Cpp11BracedListStyle: true
+IndentCaseLabels: false
+IndentPPDirectives: AfterHash
+NamespaceIndentation: All
+SortIncludes: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeParens: ControlStatements
+Standard: Cpp11

.devcontainer/Dockerfile

@@ -0,0 +1,18 @@
+# See here for image contents: https://github.com/microsoft/vscode-dev-containers/tree/v0.191.0/containers/cpp/.devcontainer/base.Dockerfile
+
+# [Choice] Debian / Ubuntu version: debian-11, debian-10, debian-9, ubuntu-20.04, ubuntu-18.04
+ARG VARIANT="ubuntu-20.04"
+FROM mcr.microsoft.com/vscode/devcontainers/cpp:0-${VARIANT}
+
+# [Optional] Uncomment this section to install additional packages.
+RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
+     && apt-get -y install --no-install-recommends \
+                    locales
+# Locales set-up
+RUN echo "en_US.UTF-8 UTF-8" >> /etc/locale.gen && \
+     locale-gen en_US.UTF-8 && \
+     /usr/sbin/update-locale LANG=en_US.UTF-8
+
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8

.devcontainer/devcontainer.json

@@ -0,0 +1,35 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.191.0/containers/cpp
+{
+	"name": "C++",
+	"build": {
+		"dockerfile": "Dockerfile",
+		// Update 'VARIANT' to pick an Debian / Ubuntu OS version: debian-11, debian-10, debian-9, ubuntu-20.04, ubuntu-18.04
+		"args": { "VARIANT": "ubuntu-20.04" }
+	},
+	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined"],
+
+	// Set *default* container specific settings.json values on container create.
+	"settings": {},
+
+	// Add the IDs of extensions you want installed when the container is created.
+	"extensions": [
+		"ms-vscode.cpptools",
+		"ms-vscode.cmake-tools",
+		"streetsidesoftware.code-spell-checker",
+		"xaver.clang-format"
+	],
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	"postCreateCommand": "bash scripts/install-dev-tools.sh",
+
+	// Comment out connect as root instead. More info: https://aka.ms/vscode-remote/containers/non-root.
+	"remoteUser": "vscode",
+	// Mount points in the container
+	"mounts": [
+		    "source=${localEnv:HOME}${localEnv:USERPROFILE},target=/host-home-folder,type=bind,consistency=cached"
+	]
+}

.dockerignore

@@ -0,0 +1,4 @@
+/build/*
+.vscode
+venv
+__pycache__

.git-blame-ignore-revs

@@ -0,0 +1,12 @@
+# Since git version 2.23, git-blame has a feature to ignore
+# certain commits.
+#
+# This file contains a list of commits that are not likely what
+# you are looking for in `git blame`. You can set this file as
+# a default ignore file for blame by running the following
+# command.
+#
+# $ git config blame.ignoreRevsFile .git-blame-ignore-revs
+
+# PR 98 :  Apply formatting to ifm3d repo
+35ce46f67db59e1505b1a7331b992c24ed87f93c

.github/ISSUE_TEMPLATE/bug-report.md

@@ -0,0 +1,47 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior. For example:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Output/Screenshots**
+If applicable, add console output and/or screenshots to help explain your problem.
+
+**Minimal Working Example**
+If applicable/possible, please provide a [minimal working example](https://stackoverflow.com/help/minimal-reproducible-example) which demonstrates the problem and can be run standalone.
+
+```
+#include <iostream>
+int main()
+{
+  std::cout << "Hello World!" << std::endl;
+  return 0;
+}
+```
+
+**Configuration/Environment (please complete the following information):**
+ - OS: [e.g. Ubuntu 18.04, Windows 10]
+ -  ifm3d version: [e.g. 0.14.0]
+ - using ROS: [yes/no]
+
+**Camera Configuration**
+Please include the output of `ifm3d dump`
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Question
+    url: https://github.com/ifm/ifm3d/discussions
+    about: Please ask and answer questions here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: proposal
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/workflows/stale-issues.yml

@@ -0,0 +1,23 @@
+name: Close inactive issues
+on:
+  schedule:
+    - cron: "30 1 * * *"
+
+jobs:
+  close-issues:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+    steps:
+      - uses: actions/stale@v5
+        with:
+          days-before-issue-stale: 30
+          days-before-issue-close: 14
+          stale-issue-label: "stale"
+          stale-issue-message: "This issue is stale because it has been open for 30 days with no activity."
+          close-issue-message: "This issue was closed because it has been inactive for 14 days since being marked as stale."
+          days-before-pr-stale: -1
+          days-before-pr-close: -1
+          exempt-issue-labels: no-stale,in-progress
+          repo-token: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -0,0 +1,7 @@
+/build/*
+/docker/build/**/debs/*
+.vscode
+/examples/**/build
+venv
+__pycache__
+examples/o3r/oem/ssh/.*

.gitlab-ci.yml

@@ -0,0 +1,31 @@
+stages:
+  - version
+  - check
+  - build
+  - test  
+  - sign
+  - tag
+  - release
+  - deploy
+
+variables:
+  SKIP_TEST: "false"
+
+include:
+  - local: .gitlab/rules.yml
+  - local: .gitlab/docker_config.yml
+  - local: .gitlab/update_version.yml
+  - local: .gitlab/check.yml
+  - local: .gitlab/build_windows.yml
+  - local: .gitlab/build_linux.yml
+  - local: .gitlab/test_windows.yml
+  - local: .gitlab/test_linux.yml  
+  - local: .gitlab/sign_windows.yml
+  - local: .gitlab/tag.yml
+  - local: .gitlab/release.yml
+  - local: .gitlab/deploy.yml
+  - local: .gitlab/deploy_docs.yml
+  - local: .gitlab/deploy_python.yml
+  - local: .gitlab/deploy_docker.yml
+  - local: .gitlab/oss_compilance.yml
+  - local: .gitlab/deploy_github.yml

.gitlab/build_linux.yml

@@ -0,0 +1,144 @@
+build:linux:
+  stage: build
+  tags:
+    - shared_docker
+  variables:
+    BASE_IMAGE: ubuntu:18.04
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - !reference [.docker-config, script]
+    - echo "${KANIKO_PUSH_ARGS}"
+    - mkdir -p /kaniko/.docker
+    - echo "${DOCKER_CFG}" > /kaniko/.docker/config.json
+    - /kaniko/executor --context ${CI_PROJECT_DIR}
+      --dockerfile docker/ifm-robotics/docker/Dockerfile
+      ${KANIKO_BUILD_ARGS}
+      ${KANIKO_PUSH_ARGS}
+      ${DOCKER_BUILD_ARGS}
+
+# Docker
+build:linux:docker:
+  stage: build
+  parallel:
+    matrix:
+      - RUNNER: shared_docker
+        BASE_IMAGE: ubuntu:20.04
+        TAG_POSTFIX: -ubuntu-amd64
+      - RUNNER: shared_docker_aarch64
+        BASE_IMAGE: ubuntu:20.04
+        TAG_POSTFIX: -ubuntu-arm64
+      - RUNNER: shared_docker_aarch64
+        BASE_IMAGE: nvcr.io/nvidia/l4t-base:r32.4.3
+        TAG_POSTFIX: -l4t-arm64
+  tags:
+    - ${RUNNER}
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - !reference [.docker-config, script]
+    - mkdir -p /kaniko/.docker
+    - echo "${DOCKER_CFG}" > /kaniko/.docker/config.json
+    - /kaniko/executor --context ${CI_PROJECT_DIR}
+      --dockerfile docker/ifm-robotics/docker/Dockerfile
+      ${KANIKO_BUILD_ARGS}
+      ${KANIKO_PUSH_ARGS}
+      ${DOCKER_BUILD_ARGS}
+  rules:
+    - !reference [.tagged, rules]
+    - !reference [.nightly, rules]
+
+# Debs
+build:linux:deb:
+  stage: build
+  parallel:
+    matrix:
+      - RUNNER: shared_docker_aarch64
+        PLATFORM: linux/aarch64
+        BASE_IMAGE:
+          - nvcr.io/nvidia/l4t-base:r32.4.3
+          - ubuntu:22.04
+          - ubuntu:20.04
+          - ubuntu:18.04
+      - RUNNER: shared_docker
+        PLATFORM: linux/amd64
+        BASE_IMAGE:
+          - ubuntu:22.04
+          - ubuntu:20.04
+          - ubuntu:18.04
+  tags:
+    - ${RUNNER}
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - !reference [.docker-config, script]
+    - mkdir -p /kaniko/.docker
+    - echo "${DOCKER_CFG}" > /kaniko/.docker/config.json
+    - /kaniko/executor --context ${CI_PROJECT_DIR}
+      --dockerfile docker/ifm-robotics/deb/Dockerfile
+      --no-push
+      ${KANIKO_BUILD_ARGS}
+      ${DOCKER_BUILD_ARGS}
+    - cp /out/*.tar ${CI_PROJECT_DIR}/
+  artifacts:
+    paths:
+      - ifm3d-*.tar
+    expire_in: 1 week
+  rules:
+    - !reference [.tagged, rules]
+    - !reference [.nightly, rules]
+    - !reference [.manual, rules]
+
+# Python wheels
+build:linux:python_wheel:
+  image: ${IMAGE}
+  stage: build
+  parallel:
+    matrix:
+      - RUNNER: shared_docker
+        IMAGE: quay.io/pypa/manylinux2014_x86_64:latest
+        PYTHON_VERSION: ["cp38-cp38", "cp39-cp39", "cp310-cp310", "cp311-cp311"]
+      - RUNNER: shared_docker_aarch64
+        IMAGE: quay.io/pypa/manylinux2014_aarch64:latest
+        PYTHON_VERSION: ["cp38-cp38", "cp39-cp39", "cp310-cp310", "cp311-cp311"]
+  tags:
+    - ${RUNNER}
+  script:
+    - |
+      "/opt/python/${PYTHON_VERSION}/bin/pip" wheel ${CI_PROJECT_DIR} --no-deps -w /tmp/wheelhouse/
+      for whl in /tmp/wheelhouse/*.whl; do
+        auditwheel repair "$whl" -w /${CI_PROJECT_DIR}/wheelhouse/
+      done
+  artifacts:
+    paths:
+      - wheelhouse/*.whl
+    expire_in: 1 week
+  rules:
+    - !reference [.tagged, rules]
+    - !reference [.nightly, rules]
+    - !reference [.manual, rules]
+
+# Docs
+build:linux:docs:
+  stage: build
+  tags:
+    - shared_docker
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - !reference [.docker-config, script]
+    - mkdir -p /kaniko/.docker
+    - echo "${DOCKER_CFG}" > /kaniko/.docker/config.json
+    - /kaniko/executor --context ${CI_PROJECT_DIR}
+      --dockerfile docker/ifm-robotics/doc/Dockerfile
+      --no-push
+      ${KANIKO_BUILD_ARGS}
+      ${DOCKER_BUILD_ARGS}
+    - mv /out ${CI_PROJECT_DIR}/docs
+  artifacts:
+    paths:
+      - docs