Perception
small_gicp is a minimalist, header-only C++ library providing efficient and parallelized implementations of point-cloud registration algorithms such as ICP, Point-to-Plane ICP, GICP (Generalized ICP) and VGICP. It emphasizes speed and few dependencies, making it easy to embed into other systems.
The library offers parallelization (including OpenMP and TBB) and data structures that accelerate nearest-neighbor search, making it suitable for real-time applications such as LiDAR odometry and SLAM. A Python interface is also available.
small_gicp is developed by Kenji Koide (koide3) and released under the MIT license. It is used as a dependency by, among others, the StrataSLAM system.
Library for aligning and registering point clouds (e.g. ICP/GICP).
A compiled, high-performance, general-purpose programming language. The primary implementation language of the ONNX Runtime core.
A high-level interpreted language dominant in machine learning. ONNX Runtime provides an official Python API.
A permissive free-software license originating at the Massachusetts Institute of Technology. It permits use, copying, modification, merging, publishing, distribution, sublicensing and sale of the software, provided the copyright notice and license text are preserved. It has no copyleft.
A permissive license fully compatible with the ROS/ROS 2 ecosystem and with closed-source commercial products.
No version history.
