{"repo":"koide3/small_gicp","free":true,"listed":false,"github":"https://github.com/koide3/small_gicp","clone":"git clone https://github.com/koide3/small_gicp.git","description":"Efficient and parallel algorithms for point cloud registration [C++, Python]","language":"C++","stars":1011,"topics":["cpp","icp","multi-threading","pcl","pointcloud","python","registration","scan-matching","point-cloud-regstration","open3d"],"license":"MIT","category":"dev-tools","readme_excerpt":"small gicp small gicp is a header-only C++ library providing efficient and parallelized algorithms for fine point cloud registration (ICP, Point-to-Plane ICP, GICP, VGICP, etc.). It is a refined and optimized version of its predecessor, fast gicp, re-written from scratch with the following features. - Highly Optimized : The core registration algorithm implementation has been further optimized from fast gicp, achieving up to 2x speed gain . - Fully parallerized : small gicp offers parallel implementations of several preprocessing algorithms, making the entire registration process parallelized (e.g., Downsampling, KdTree construction, Normal/Covariance estimation). It supports OpenMP and Intel TBB as parallelism backends. - Minimum dependencies : The library requires only Eigen along with the bundled nanoflann and Sophus. Optionally, it supports a PCL registration interface for use as a drop-in replacement - Customizable : small gicp allows the integration of any custom point cloud class into the registration algorithm via traits. Its template-based implementation enables customization of the registration process with original correspondence estimators and registration factors. - Python bindings : By being isolated from PCL, small gicp's Python bindings are more portable and can be used seamlessly with other libraries such as Open3D. Note that GPU-based implementations are NOT included in this package. If you find this package useful for your project, please consider leaving a ","default_branch":null,"files":null,"tree":[],"storefront":"/r/koide3","claimed":false,"request_supported":{"post":"https://gitbuyer.com/r/koide3/small_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."}