{"repo":"koide3/fast_gicp","free":true,"listed":false,"github":"https://github.com/koide3/fast_gicp","clone":"git clone https://github.com/koide3/fast_gicp.git","description":"A collection of GICP-based fast point cloud registration algorithms","language":"C++","stars":1682,"topics":["point-cloud","pcl","gicp","icp","cuda","gpu","multithreading","registration","vgicp","scan-matching"],"license":"BSD-3-Clause","category":"dev-tools","readme_excerpt":"Note: New faster library is released We released small gicp that is twice as fast as fast gicp and with minimum dependencies and clean interfaces. fast gicp This package is a collection of GICP-based fast point cloud registration algorithms. It constains a multi-threaded GICP as well as multi-thread and GPU implementations of our voxelized GICP (VGICP) algorithm. All the implemented algorithms have the PCL registration interface so that they can be used as an inplace replacement for GICP in PCL. - FastGICP: multi-threaded GICP algorithm ( \\ 40FPS ) - FastGICPSingleThread: GICP algorithm optimized for single-threading ( \\ 15FPS ) - FastVGICP: multi-threaded and voxelized GICP algorithm ( \\ 70FPS ) - FastVGICPCuda: CUDA-accelerated voxelized GICP algorithm ( \\ 120FPS ) - NDTCuda: CUDA-accelerated D2D NDT algorithm ( \\ 500FPS ) on melodic & noetic Installation Dependencies - PCL - Eigen - OpenMP - CUDA (optional) - Sophus - nvbio We have tested this package on Ubuntu 18.04/20.04 and CUDA 11.1. On macOS when using brew , you might have to set up your depenencies like this CUDA To enable the CUDA-powered implementations, set cmake option to . ROS Non-ROS Python bindings Note: If you are on a catkin-enabled environment and the installation doesn't work well, comment out in CMakeLists.txt and run the above installation command again. Benchmark CPU:Core i9-9900K GPU:GeForce RTX2080Ti See src/align.cpp for the detailed usage. Test on KITTI C++ Python Note In some environments, setting","default_branch":null,"files":null,"tree":[],"storefront":"/r/koide3","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/koide3/fast_gicp/request-supported","requests":0},"note":"indexed from public GitHub; nothing is for sale on this page. Clone it from GitHub. Paid listings live at /search."}