https://github.com/tumftm/flexcloud

Georeferencing of Point Cloud Maps
https://github.com/tumftm/flexcloud

goereferencing pointcloud ros2 rubber-sheeting

Last synced: 16 days ago
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Georeferencing of Point Cloud Maps

• Host: GitHub
• URL: https://github.com/tumftm/flexcloud
• Owner: TUMFTM
• License: gpl-3.0
• Created: 2024-07-02T12:28:00.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2026-05-12T16:06:53.000Z (16 days ago)
• Last Synced: 2026-05-12T16:40:25.931Z (16 days ago)
• Topics: goereferencing, pointcloud, ros2, rubber-sheeting
• Language: C++
• Homepage:
• Size: 25.5 MB
• Stars: 154
• Watchers: 3
• Forks: 13
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

          


FlexCloud


Georeferencing of Point Cloud Maps

![License](https://img.shields.io/badge/license-Apache%202.0-blue)

[![Docker](https://badgen.net/badge/icon/docker?icon=docker&label)](https://www.docker.com/)

![pip](https://img.shields.io/badge/pip-Ubuntu%2024.04%20x86__64-E95420?logo=ubuntu&logoColor=white)

[![PyPI](https://github.com/TUMFTM/FlexCloud/actions/workflows/pypi.yml/badge.svg)](https://github.com/TUMFTM/FlexCloud/actions/workflows/pypi.yml)

[![arXiv](https://img.shields.io/badge/arXiv-1234.56789-b31b1b.svg)](https://arxiv.org/abs/2502.00395)

[![DOI:10.5220/0013405400003941](https://img.shields.io/badge/DOI-10.5220/0013405400003941-00629B.svg)](https://doi.org/10.5220/0013359600003941)





**Full documentation: [https://TUMFTM.github.io/FlexCloud](https://TUMFTM.github.io/FlexCloud)**

Installation


```bash

pip install flexcloud

```

> **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.

Usage


All algorithm parameters are CLI flags with reasonable defaults.

**Keyframe Interpolation**

```bash

flexcloud-keyframe-interpolation -h

ros2 run flexcloud keyframe_interpolation

```

**Georeferencing**

```bash

flexcloud-georeferencing -h

ros2 run flexcloud georeferencing

```

Documentation 


For 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)

Test Data 


The 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.

The LiDAR/SLAM trajectory is created using [glim](https://github.com/koide3/glim).

The reference trajectory presents raw data from the RTK-corrected GNSS-signal of the vehicle.

Developers 


* [Maximilian Leitenstern](mailto:maxi.leitenstern@tum.de),

Institute of Automotive Technology,

School of Engineering and Design,

Technical University of Munich,

85748 Garching,

Germany

* Marko Alten (student research project)

* Christian Bolea-Schaser (student research project)

Citation 


If you use this repository for any academic work, please consider citing our paper (preprint):

```bibtex

@conference{leitenstern2025flexcloud,

author={Maximilian Leitenstern and Marko Alten and Christian Bolea-Schaser and Dominik Kulmer and Marcel Weinmann and Markus Lienkamp},

title={FlexCloud: Direct, Modular Georeferencing and Drift-Correction of Point Cloud Maps},

booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},

year={2025},

pages={157-165},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0013359600003941},

isbn={978-989-758-745-0},

}

```