[//]: # ( ==== Description ====================================================================== ) **_libpointmatcher_ is a modular library implementing the Iterative Closest Point (ICP) algorithm
for aligning point clouds. It has applications in robotics and computer vision.**
The library is written in C++ for efficiency with [bindings in Python](doc/index.md#python-).

[//]: # (====Badges===============================================================================)

[//]: # (====Awesome badges=======================================================================) [](https://github.com/szenergy/awesome-lidar#basic-matching-algorithms)       [](http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping)       [](https://github.com/ahundt/awesome-robotics#point-clouds)
            ^{LIDAR                             Robotics                 Robotics Libraries}

---

Supported OS And Architecture

libpointmatcher is tested on our build system under the following:

• OS: Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)
• Computer architecture: x86 and arm64/v8

Note:

• libpointmatcher reportedly works on Mac OS X (latest) and Windows (latest)

★ Version >= 1.4.0 Release Note

This release of libpointmatcher introduces the integration of norlab-build-system (NBS) as a git submodule for codebase development and testing.

Execute the following to clone the repository with its submodule:

git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git

If libpointmatcher was previously cloned, execute the following to fetch its new submodule

git submodule update --remote --recursive --init

★ Contributing Instructions

See contributing_instructions.md for instructions related to bug reporting, code contribution and for setting up the libpointmatcher-build-system on your workstation to speed up your local development workflow.

Documentation and Tutorials

**Quick link for the tutorial pages: Tutorials.

Those tutorials are written using Markdown syntax and stored in the project’s /doc folder. Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library’s codebase.

Libpointmatcher’s source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found here, but it is suggested to use the one build for your version in doc/html.

libpointmatcher was orginaly developed by François Pomerleau and Stéphane Magnenat as part of our work at ASL-ETH. It is now maintained by the Northern Robotics Laboratory (Norlab), led by François Pomerleau.

You can read the latest changes in the release notes.

Quick Start

Docker images

To install docker related dependencies on ubuntu, execute the following

```bash

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Changelog for package libpointmatcher

1.4.4 (2024-12-16)

New features: * Added Angle Limit Datapointsfilter, which filters points if they lie inside or outside of a given spherical wedge * Added support for binary PLY files IO

Major changes: * Min. Cmake version pumped to 3.15 * Removed dependency on boost filesystem * Python bindings compile with recent versions of pybind11

Other changes: * Updated Python GitHub action * Updated gitignore * Updated docs

1.4.3 (2024-06-28)

• Class to generate point cloud primitives
• Updated documentation
• Github actions for code API
• Function that lists all available Filter parameters

1.4.2 (2024-03-23)

• Add dockerhub release logic and improve main readme by \@RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/550
• Update .gitingore with auto-generated patterns for C++, Python, JetBrains IDEs ,and VSCode by \@boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/555
• build: add ubuntu jammy to the repository suported version by \@RedLeader962 in https://github.com/norlab-ulaval/libpointmatcher/pull/557
• fix: Change unit tests floating point type to double and add a precision argument to output streams by \@boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/558
• Update the minimum required Cmake version to 3.10.2 by \@boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/560
• fix: Issue 534 transformation tests failing on some platforms by \@boxanm in https://github.com/norlab-ulaval/libpointmatcher/pull/559
• Added orientation descriptor in RigidTransformation and SimilarityTransformation compute functions. by \@simonpierredeschenes in https://github.com/norlab-ulaval/libpointmatcher/pull/553

1.4.1 (2024-03-19)

• Update package.xml version properly

1.4.0 (2023-12-15)

• fix: N2ST path resolution in dependencies-doc docker image
• refactor: move libpointmatcher build-system logic to norlab-build-system submodule
• fix: build-system side unstable compilation issue fix
• Fixes to CMake library management config generation
• New DataPoints filter for descriptor augmentation Enhancement
• Fix 2D transformation tests in debug
• Fix Transformations test build when using Eigen3.4
• Disable static boost linkage by default
• Update CompilationPython.md
• Update README.md
• Update readme_test.md for docker daemon test
• Create readme_test.md
• Updated the inner loop counter
• build-system minor mod
• libpointmatcher build-system
• Fix omega descriptor export
• Handle libnabo config mode
• Build python binding as regular package
• Fix time values after applying Sampling surface normal filter
• Add seed to Random sampling filter
• Add more details in pypointmatcher's installation docs
• Fixed compilation on Visual Studio 2022
• Fix 4DoF PointToPlane error minimizer crash
• Use the LOG_INFO_STREAM macro instead of std::cerr
• package format=3
• Create LICENSE file based on BSD license as per package.xml
• catkin not required for pure cmake packages
• Histogram<T>::computeStats() without sorting the Histogram
• Windows: Fix Narrowing conversion of seed in MaxPointCount
• Change storage ordering of the eigen vectors descriptors
• Apply the transformation to eigen vectors
• Fix the surface normals datapoints filter covariance matrix bug
• Fix weird behavior of MaxPointCountDataPointsFilter
• Bug fix in SurfaceNormalOutlierFilter
• Update CompilationWindows.md
• [Matches/OutlierFiltersImpl] Made convergence error messages more informative
• RemoveBeyond option for the maxQuantileDistance filter
• refactor: Drop support for yaml-cpp old API Enhancement
• Automaticaly find eigen3
• Strong Windows installation tutorial update
• Add libpointmatcher_INCLUDE_DIR to match with CGAL
• Add Boost_LIBRARIES to pointmatcher_LIBRARIES
• Add option to weight by reading pc
• Fixes for windows
• Fix windows doc
• Include iso646.h to add and, or, not macros

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