{"id":22745942,"url":"https://github.com/tumftm/flexcloud","last_synced_at":"2026-05-12T17:01:31.231Z","repository":{"id":248478594,"uuid":"823101027","full_name":"TUMFTM/FlexCloud","owner":"TUMFTM","description":"Georeferencing of Point Cloud Maps","archived":false,"fork":false,"pushed_at":"2026-05-12T16:06:53.000Z","size":26724,"stargazers_count":154,"open_issues_count":0,"forks_count":13,"subscribers_count":3,"default_branch":"main","last_synced_at":"2026-05-12T16:40:25.931Z","etag":null,"topics":["goereferencing","pointcloud","ros2","rubber-sheeting"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/TUMFTM.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,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-07-02T12:28:00.000Z","updated_at":"2026-05-12T15:31:23.000Z","dependencies_parsed_at":"2025-03-07T22:01:33.500Z","dependency_job_id":"1c45e2b0-3c38-482f-b935-2cfbfdc5ef2c","html_url":"https://github.com/TUMFTM/FlexCloud","commit_stats":null,"previous_names":["tumftm/flexcloud"],"tags_count":9,"template":false,"template_full_name":null,"purl":"pkg:github/TUMFTM/FlexCloud","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/TUMFTM%2FFlexCloud","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/TUMFTM%2FFlexCloud/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/TUMFTM%2FFlexCloud/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/TUMFTM%2FFlexCloud/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/TUMFTM","download_url":"https://codeload.github.com/TUMFTM/FlexCloud/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/TUMFTM%2FFlexCloud/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32948571,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-12T09:19:52.626Z","status":"ssl_error","status_checked_at":"2026-05-12T09:17:33.438Z","response_time":102,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.6:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"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":["goereferencing","pointcloud","ros2","rubber-sheeting"],"created_at":"2024-12-11T02:09:24.801Z","updated_at":"2026-05-12T17:01:31.208Z","avatar_url":"https://github.com/TUMFTM.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003cdiv align=\"center\"\u003e\n\n\u003ch1\u003eFlexCloud\u003c/h1\u003e\n\nGeoreferencing of Point Cloud Maps\n\n![License](https://img.shields.io/badge/license-Apache%202.0-blue)\n[![Docker](https://badgen.net/badge/icon/docker?icon=docker\u0026label)](https://www.docker.com/)\n![pip](https://img.shields.io/badge/pip-Ubuntu%2024.04%20x86__64-E95420?logo=ubuntu\u0026logoColor=white)\n[![PyPI](https://github.com/TUMFTM/FlexCloud/actions/workflows/pypi.yml/badge.svg)](https://github.com/TUMFTM/FlexCloud/actions/workflows/pypi.yml)\n[![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2502.00395)\n[![DOI:10.5220/0013405400003941](https://img.shields.io/badge/DOI-10.5220/0013405400003941-00629B.svg)](https://doi.org/10.5220/0013359600003941)\n\n\u003cimg src=\"docs/assets/viz.gif\" width=\"800\"/\u003e\n\u003c/div\u003e\n\n**Full documentation: [https://TUMFTM.github.io/FlexCloud](https://TUMFTM.github.io/FlexCloud)**\n\n\u003ch2\u003eInstallation\u003c/h2\u003e\n\n```bash\npip install flexcloud\n```\n\n\u003e **Supported platform:** Ubuntu 24.04 on x86_64 with CPython 3.12. The published PyPI wheel is built for `manylinux_2_39_x86_64` / `cp312` only. On other platforms, use the [Docker image](https://ghcr.io/tumftm/pointcloudcrafter) or build from source.\n\n\u003ch2\u003eUsage\u003c/h2\u003e\n\nAll algorithm parameters are CLI flags with reasonable defaults.\n\n**Keyframe Interpolation**\n\n```bash\nflexcloud-keyframe-interpolation -h\n\nros2 run flexcloud keyframe_interpolation\n```\n\n**Georeferencing**\n\n```bash\nflexcloud-georeferencing -h\n\nros2 run flexcloud georeferencing\n```\n\n\u003ch2\u003eDocumentation \u003c/h2\u003e\n\nFor more details on the implementation and available features, refer to the full documentation hosted on GitHub pages: [https://TUMFTM.github.io/FlexCloud](https://TUMFTM.github.io/FlexCloud)\n\n\u003ch2\u003eTest Data \u003c/h2\u003e\n\nThe data was recorded by the [TUM Autonomous Motorsport Team](https://www.mos.ed.tum.de/ftm/forschungsfelder/team-av-perception/tum-autonomous-motorsport/) during the [Abu Dhabi Autonomous Racing League](https://a2rl.io/) 2025.\nThe LiDAR/SLAM trajectory is created using [glim](https://github.com/koide3/glim).\nThe reference trajectory presents raw data from the RTK-corrected GNSS-signal of the vehicle.\n\n\u003ch2\u003eDevelopers \u003c/h2\u003e\n\n* [Maximilian Leitenstern](mailto:maxi.leitenstern@tum.de),\nInstitute of Automotive Technology,\nSchool of Engineering and Design,\nTechnical University of Munich,\n85748 Garching,\nGermany\n* Marko Alten (student research project)\n* Christian Bolea-Schaser (student research project)\n\n\u003ch2\u003eCitation \u003c/h2\u003e\n\nIf you use this repository for any academic work, please consider citing our paper (preprint):\n\n```bibtex\n@conference{leitenstern2025flexcloud,\nauthor={Maximilian Leitenstern and Marko Alten and Christian Bolea-Schaser and Dominik Kulmer and Marcel Weinmann and Markus Lienkamp},\ntitle={FlexCloud: Direct, Modular Georeferencing and Drift-Correction of Point Cloud Maps},\nbooktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},\nyear={2025},\npages={157-165},\npublisher={SciTePress},\norganization={INSTICC},\ndoi={10.5220/0013359600003941},\nisbn={978-989-758-745-0},\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftumftm%2Fflexcloud","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftumftm%2Fflexcloud","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftumftm%2Fflexcloud/lists"}