{"id":13436161,"url":"https://github.com/koide3/ndt_omp","last_synced_at":"2025-05-16T03:04:43.579Z","repository":{"id":41555484,"uuid":"115906434","full_name":"koide3/ndt_omp","owner":"koide3","description":"Multi-threaded and SSE friendly NDT algorithm","archived":false,"fork":false,"pushed_at":"2024-08-31T13:05:27.000Z","size":1721,"stargazers_count":770,"open_issues_count":29,"forks_count":343,"subscribers_count":21,"default_branch":"master","last_synced_at":"2025-04-08T13:09:39.846Z","etag":null,"topics":["matching","multithreading","ndt","ndt-algorithm","pcl","point-cloud","registration","ros","scan-matching"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-2-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/koide3.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-01-01T07:55:38.000Z","updated_at":"2025-04-08T05:58:15.000Z","dependencies_parsed_at":"2023-01-31T02:30:41.065Z","dependency_job_id":"af7e67d9-6d98-4f03-90f6-a8534af0095e","html_url":"https://github.com/koide3/ndt_omp","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fndt_omp","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fndt_omp/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fndt_omp/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/koide3%2Fndt_omp/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/koide3","download_url":"https://codeload.github.com/koide3/ndt_omp/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":254459088,"owners_count":22074605,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["matching","multithreading","ndt","ndt-algorithm","pcl","point-cloud","registration","ros","scan-matching"],"created_at":"2024-07-31T03:00:44.880Z","updated_at":"2025-05-16T03:04:38.570Z","avatar_url":"https://github.com/koide3.png","language":"C++","readme":"# ndt_omp\n\nThis package provides an OpenMP-boosted Normal Distributions Transform (and GICP) algorithm derived from pcl. The NDT algorithm is modified to be SSE-friendly and multi-threaded. It can run up to 10 times faster than its original version in pcl.\n\nFor using this package in non-ROS1 projects (ROS2 or without ROS), see forked repositories: [dfki-ric/pclomp](https://github.com/dfki-ric/pclomp) [tier4/ndt_omp](https://github.com/tier4/ndt_omp).\n\n[![Build](https://github.com/koide3/ndt_omp/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/ndt_omp/actions/workflows/build.yml)\n\n### Benchmark (on Core i7-6700K)\n```\n$ roscd ndt_omp/data\n$ rosrun ndt_omp align 251370668.pcd 251371071.pcd\n--- pcl::NDT ---\nsingle : 282.222[msec]\n10times: 2921.92[msec]\nfitness: 0.213937\n\n--- pclomp::NDT (KDTREE, 1 threads) ---\nsingle : 207.697[msec]\n10times: 2059.19[msec]\nfitness: 0.213937\n\n--- pclomp::NDT (DIRECT7, 1 threads) ---\nsingle : 139.433[msec]\n10times: 1356.79[msec]\nfitness: 0.214205\n\n--- pclomp::NDT (DIRECT1, 1 threads) ---\nsingle : 34.6418[msec]\n10times: 317.03[msec]\nfitness: 0.208511\n\n--- pclomp::NDT (KDTREE, 8 threads) ---\nsingle : 54.9903[msec]\n10times: 500.51[msec]\nfitness: 0.213937\n\n--- pclomp::NDT (DIRECT7, 8 threads) ---\nsingle : 63.1442[msec]\n10times: 343.336[msec]\nfitness: 0.214205\n\n--- pclomp::NDT (DIRECT1, 8 threads) ---\nsingle : 17.2353[msec]\n10times: 100.025[msec]\nfitness: 0.208511\n```\n\nSeveral methods for neighbor voxel search are implemented. If you select pclomp::KDTREE, results will be completely the same as that of the original pcl::NDT. We recommend using pclomp::DIRECT7 which is faster and stable. If you need extremely fast registration, choose pclomp::DIRECT1, but it might be a bit unstable.\n\n\u003cimg src=\"data/screenshot.png\" height=\"400pix\" /\u003e\u003cbr\u003e\nRed: target, Green: source, Blue: aligned\n\n## Related packages\n- [ndt_omp](https://github.com/koide3/ndt_omp)\n- [fast_gicp](https://github.com/SMRT-AIST/fast_gicp)\n","funding_links":[],"categories":["C++","Sensor Processing"],"sub_categories":["Lidar and Point Cloud Processing"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fndt_omp","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkoide3%2Fndt_omp","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkoide3%2Fndt_omp/lists"}