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Processing"],"sub_categories":["Lidar and Point Cloud Processing"],"readme":"[![CircleCI](https://img.shields.io/circleci/build/gh/MOLAorg/mp2p_icp/master.svg)](https://circleci.com/gh/MOLAorg/mp2p_icp) [![Docs](https://img.shields.io/badge/docs-latest-brightgreen.svg)](https://docs.mola-slam.org/mp2p_icp/)\n\n\n| Distro | Build dev | Build releases | Stable version |\n| ---    | ---       | ---            | ---         |\n| ROS1 Noetic (u20.04) | [![Build Status](https://build.ros.org/job/Ndev__mp2p_icp__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mp2p_icp__ubuntu_focal_amd64/) | amd64 [![Build Status](https://build.ros.org/job/Nbin_uF64__mp2p_icp__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mp2p_icp__ubuntu_focal_amd64__binary/) \u003cbr\u003e arm64 [![Build Status](https://build.ros.org/job/Nbin_ufv8_uFv8__mp2p_icp__ubuntu_focal_arm64__binary/badge/icon)](https://build.ros.org/job/Nbin_ufv8_uFv8__mp2p_icp__ubuntu_focal_arm64__binary/) \u003cbr\u003e armhf [![Build Status](https://build.ros.org/job/Nbin_ufhf_uFhf__mp2p_icp__ubuntu_focal_armhf__binary/badge/icon)](https://build.ros.org/job/Nbin_ufhf_uFhf__mp2p_icp__ubuntu_focal_armhf__binary/) | [![Version](https://img.shields.io/ros/v/noetic/mp2p_icp)](https://index.ros.org/search/?term=mp2p_icp) |\n| ROS 2 Humble (u22.04) | [![Build Status](https://build.ros2.org/job/Hdev__mp2p_icp__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mp2p_icp__ubuntu_jammy_amd64/) | amd64 [![Build Status](https://build.ros2.org/job/Hbin_uJ64__mp2p_icp__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__mp2p_icp__ubuntu_jammy_amd64__binary/) \u003cbr\u003e arm64 [![Build Status](https://build.ros2.org/job/Hbin_ujv8_uJv8__mp2p_icp__ubuntu_jammy_arm64__binary/badge/icon)](https://build.ros2.org/job/Hbin_ujv8_uJv8__mp2p_icp__ubuntu_jammy_arm64__binary/) | [![Version](https://img.shields.io/ros/v/humble/mp2p_icp)](https://index.ros.org/search/?term=mp2p_icp) |\n| ROS 2 Jazzy @ u24.04 | [![Build Status](https://build.ros2.org/job/Jdev__mp2p_icp__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Jdev__mp2p_icp__ubuntu_noble_amd64/) | amd64 [![Build Status](https://build.ros2.org/job/Jbin_uN64__mp2p_icp__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Jbin_uN64__mp2p_icp__ubuntu_noble_amd64__binary/) \u003cbr\u003e arm64 [![Build Status](https://build.ros2.org/job/Jbin_unv8_uNv8__mp2p_icp__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Jbin_unv8_uNv8__mp2p_icp__ubuntu_noble_arm64__binary/) | [![Version](https://img.shields.io/ros/v/jazzy/mp2p_icp)](https://index.ros.org/search/?term=mp2p_icp) | \n| ROS 2 Rolling (u24.04) | [![Build Status](https://build.ros2.org/job/Rdev__mp2p_icp__ubuntu_noble_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mp2p_icp__ubuntu_noble_amd64/) | amd64 [![Build Status](https://build.ros2.org/job/Rbin_uN64__mp2p_icp__ubuntu_noble_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uN64__mp2p_icp__ubuntu_noble_amd64__binary/) \u003cbr\u003e arm64 [![Build Status](https://build.ros2.org/job/Rbin_unv8_uNv8__mp2p_icp__ubuntu_noble_arm64__binary/badge/icon)](https://build.ros2.org/job/Rbin_unv8_uNv8__mp2p_icp__ubuntu_noble_arm64__binary/) | [![Version](https://img.shields.io/ros/v/rolling/mp2p_icp)](https://index.ros.org/search/?term=mp2p_icp) |\n\n| EOL Distro | Last release |\n| ---    | ---       |\n| ROS 2 Iron (u22.04) | [![Version](https://img.shields.io/ros/v/iron/mp2p_icp)](https://index.ros.org/search/?term=mp2p_icp) |\n\n\n# mp2p_icp\nC++ libraries for multi primitive-to-primitive (MP2P) ICP algorithms and flexible point cloud processing pipelines. `mp2p_icp` is used in the [mola_lidar_odometry](https://github.com/MOLAorg/mola_lidar_odometry) framework:\n\n![mola_lidar_short_demo_stairs](https://github.com/MOLAorg/mp2p_icp/assets/5497818/af5c7250-85bf-4017-a983-4883ac9fb972)\n\n\n- [Main library documentation and C++ API](https://docs.mola-slam.org/mp2p_icp/)\n- License: New BSD 3-Clause (Note that each module of [MOLA](https://github.com/MOLAorg/mola) has its own license)\n\n## Introduction\n\nThe project provides these C++ libraries:\n * `mp2p_icp_map`: Provides the [`mp2p_icp::metric_map_t`](https://docs.mola-slam.org/latest/class_mp2p_icp_metric_map_t.html#doxid-classmp2p-icp-1-1metric-map-t) generic metric map container. Metric map files with extension `*.mm` are serializations of instances of this class.\n * `mp2p_icp`: With ICP algorithms. It depends on `mp2p_icp_map`.\n * `mp2p_icp_filters`: With point cloud filtering and manipulation algorithms. It depends on `mp2p_icp_map`.\n\nAnd these applications:\n * [kitti2mm](apps/kitti2mm): Converts KITTI-like `.bin` files to `.mm` files.\n * [mm-filter](apps/mm-filter): CLI tool to apply a pipeline to an input metric map (`*.mm`), saving the result as another metric map file.\n * [mm-info](apps/mm-info): CLI tool to read a metric map (`*.mm`) and describe its contents.\n * [mm-viewer](apps/mm-viewer): GUI tool to visualize .mm (metric map) files.\n * [mm2txt](apps/mm2txt): CLI tool to export the layers of a metric map (`*.mm`) as CSV/TXT.\n * [icp-log-viewer](apps/icp-log-viewer): GUI to inspect results from ICP runs.\n * [icp-run](apps/icp-run): Standalone program to run ICP pipelines.\n * [sm2mm](apps/sm2mm): A CLI tool to convert a [simple map](https://docs.mrpt.org/reference/latest/class_mrpt_maps_CSimpleMap.html) `*.simplemap`\n(from a SLAM mapping session) into a metric map (`*.mm`) via a configurable pipeline configuration file.\n * [sm-cli](apps/sm-cli): A CLI tool to inspect, visualize, or modify [simple maps](https://docs.mrpt.org/reference/latest/class_mrpt_maps_CSimpleMap.html) `*.simplemap` (from a SLAM mapping session).\n * [txt2mm](apps/txt2mm): CLI tool to convert pointclouds from CSV/TXT files to mp2p_icp mm.\n\n\nKey C++ classes provided by this project (see [full docs](https://docs.mola-slam.org/mp2p_icp/)):\n * [`mp2p_icp::metric_map_t`](https://docs.mola-slam.org/latest/class_mp2p_icp_metric_map_t.html#doxid-classmp2p-icp-1-1metric-map-t): A generic\n   data type to store raw or processed point clouds, e.g. segmented, discrete\n   extracted features. Note that filtering point clouds is intentionally left\n   outside of the scope of this library.\n   See [MOLA](https://github.com/MOLAorg/mola) for possible implementations.\n * [`mp2p_icp::ICP_Base`](https://docs.mola-slam.org/latest/): A uniform API\n   for matching those generic point clouds.\n * Implementations/wrappers of different ICP algorithms under such uniform API.\n * The library exposes both, complete iterative ICP algorithms, and the\n underlying optimal transformation estimators which are run at each ICP iteration.\n\n![mp2p_pairings](docs/source/imgs/mp2p_pairings.png)\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FMOLAorg%2Fmp2p_icp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FMOLAorg%2Fmp2p_icp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FMOLAorg%2Fmp2p_icp/lists"}