https://github.com/norlab-ulaval/norlab_icp_mapper

A 2-D/3-D mapping library relying on the "Iterative Closest Point" algorithm
https://github.com/norlab-ulaval/norlab_icp_mapper

Last synced: about 2 months ago
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A 2-D/3-D mapping library relying on the "Iterative Closest Point" algorithm

• Host: GitHub
• URL: https://github.com/norlab-ulaval/norlab_icp_mapper
• Owner: norlab-ulaval
• License: bsd-3-clause
• Created: 2020-01-13T19:43:47.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2024-07-28T01:37:00.000Z (about 2 months ago)
• Last Synced: 2024-07-28T02:55:58.604Z (about 2 months ago)
• Language: C++
• Homepage: https://norlab-icp-mapper.readthedocs.io/en/latest/
• Size: 12.2 MB
• Stars: 58
• Watchers: 7
• Forks: 15
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-canadian-robotics - norlab_icp_mapper - A 2-D/3-D mapping library relying on the "Iterative Closest Point" algorithm. [Norlab](https://norlab.ulaval.ca) is maintaining and using the framework to deploy mobile robots in extreme conditions, recently featured in [Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned](https://norlab.ulaval.ca/publications/field-report-ltr) and [Lidar Scan Registration Robust to Extreme Motions](https://norlab.ulaval.ca/publications/extreme-motions). <p align="right">[](https://github.com/norlab-ulaval/norlab_icp_mapper/stargazers)</p> (Open-Source Software)

README

        
# norlab_icp_mapper

A 2-D/3-D mapping library relying on the "Iterative Closest Point" algorithm.

### Build and Installation guide

```bash

mkdir build && cd build

cmake ..

sudo make install

```

### Python bindings

Assuming that you have `libpointmatcher` [Python bindings](https://libpointmatcher.readthedocs.io/en/latest/CompilationPython/) installed, run the following commands to install Python bindings into your current python environment:

```bash

cd python

pip install .

```

Note that you need the mapper installed on your device, otherwise the Python binding will not find the library.

### Documentation

The documentation for both users and developers is hosted on [readthedocs.org](https://norlab-icp-mapper.readthedocs.io/en/latest/).

Alternatively, it can be found in the `doc/` folder, however without the nice formatting possible thanks to [Material for MkDocs](https://squidfunk.github.io/mkdocs-material/).