Distro	Build dev	Build releases	Stable version
ROS1 Noetic (u20.04)		amd64 arm64 armhf
ROS 2 Humble (u22.04)		amd64 arm64
ROS 2 Jazzy @ u24.04		amd64 arm64
ROS 2 Rolling (u24.04)		amd64 arm64

EOL Distro	Last release
ROS 2 Iron (u22.04)

mp2p_icp

C++ libraries for multi primitive-to-primitive (MP2P) ICP algorithms and flexible point cloud processing pipelines. mp2p_icp is used in the mola_lidar_odometry framework:

• Main library documentation and C++ API
• License: New BSD 3-Clause (Note that each module of MOLA has its own license)

Introduction

The project provides these C++ libraries:

• mp2p_icp_map: Provides the mp2p_icp::metric_map_t generic metric map container. Metric map files with extension *.mm are serializations of instances of this class.
• mp2p_icp: With ICP algorithms. It depends on mp2p_icp_map.
• mp2p_icp_filters: With point cloud filtering and manipulation algorithms. It depends on mp2p_icp_map.

And these applications:

• kitti2mm: Converts KITTI-like .bin files to .mm files.
• mm-filter: CLI tool to apply a pipeline to an input metric map (*.mm), saving the result as another metric map file.
• mm-info: CLI tool to read a metric map (*.mm) and describe its contents.
• mm-viewer: GUI tool to visualize .mm (metric map) files.
• mm2txt: CLI tool to export the layers of a metric map (*.mm) as CSV/TXT.
• icp-log-viewer: GUI to inspect results from ICP runs.
• icp-run: Standalone program to run ICP pipelines.
• sm2mm: A CLI tool to convert a simple map *.simplemap (from a SLAM mapping session) into a metric map (*.mm) via a configurable pipeline configuration file.
• sm-cli: A CLI tool to inspect, visualize, or modify simple maps *.simplemap (from a SLAM mapping session).
• txt2mm: CLI tool to convert pointclouds from CSV/TXT files to mp2p_icp mm.

Key C++ classes provided by this project (see full docs):

• mp2p_icp::metric_map_t: A generic data type to store raw or processed point clouds, e.g. segmented, discrete extracted features. Note that filtering point clouds is intentionally left outside of the scope of this library. See MOLA for possible implementations.
• mp2p_icp::ICP_Base: A uniform API for matching those generic point clouds.
• Implementations/wrappers of different ICP algorithms under such uniform API.
• The library exposes both, complete iterative ICP algorithms, and the underlying optimal transformation estimators which are run at each ICP iteration.

Changelog for package mp2p_icp

1.6.7 (2025-04-03)

• mm-georef cli app: support reading/writing georef info in YAML format
• georeferencing metadata now can be read/writen as YAML files
• clang-format: switch to column limit=100
• Update to robin-map v1.4.0
• Contributors: Jose Luis Blanco-Claraco

1.6.6 (2025-02-26)

• Docs: add page for mm-georef
• docs: Update 2025 paper citation
• print metric_map_t as string: show lat/lon coordinates in a format directly compatible with Google Map searches.
• New cli tool: mm-georef, to manipulate the geo-referencing metadata of metric map files
• Contributors: Jose Luis Blanco-Claraco

1.6.5 (2025-01-28)

• Add GitHub actions
• Add pole-detector filter
• mm-filter app: add --load-plugins flag too
• Add sanity check assert in FilterDeskew
• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2024-12-18)

• merge two docs pages in one to shorten the docs TOC
• Update README.md: Mark ROS2 Iron as EOL
• Also use TBB for parallel solving point-to-plane pairings
• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2024-11-11)

• icp-log-viewer: also reduce GUI refresh rate
• mm-viewer: avoid useless GUI refresh (CPU usage reduction)
• txt2mm: Add input filter xyzrgb
• mm-viewer: add a 'fit view to map' button
• New cli app rawlog-filter
• FilterCurvature: better handling scans with <=3 points in some rings
• new subcommand 'sm-cli tf'
• Contributors: Jose Luis Blanco-Claraco

1.6.2 (2024-09-14)

• Expose << and >> operators for geo-reference data structures
• Fix missing build_dep
• Contributors: Jose Luis Blanco-Claraco

1.6.1 (2024-09-11)

• Fix missing catkin buildtoo_depend for ROS1 builds
• Update RTTI macros for upcoming MRPT 2.14.0
• Contributors: Jose Luis Blanco-Claraco

1.6.0 (2024-09-08)

• Port Point2Plane matcher to use the new NN-for-planes API
• mp2p_icp_map library: add NearestPlaneCapable virtual API
• cmake: move from glob expressions to explicit lists of source files
• clarify eigenvalues order in headers
• Contributors: Jose Luis Blanco-Claraco

1.5.6 (2024-09-07)

• sm2mm cli: show map contents before writing to disk
• add another demo sm2mm file for the mola tutorials
• Add another sm2mm demo file w/o deskew for the mola mapping tutorial
• Matcher_Point2Plane: fix build error in armhf
• Fix build with embedded mola_common
• README: Add ROS badges for all architectures
• Contributors: Jose Luis Blanco-Claraco

1.5.5 (2024-08-27)

• Explicitly add tbb as dependency in package.xml
• Depend on new mrpt_lib packages (deprecate mrpt2)
• FIX: build errors in armhf arch
• Contributors: Jose Luis Blanco-Claraco

1.5.4 (2024-08-20)

• Do not use Eigen::Vector for compatibility with Eigen3 <3.4 in ROS Noetic
• Contributors: Jose Luis Blanco-Claraco

1.5.3 (2024-08-20)

• Re-add ROS1 Noetic as supported distribution
• Generator sanity check asserts: more informative error messages
• sm-cli: new command 'join' to merge simplemaps
• icp-log-viewer UI: new keybind 'I' to switch initial/final pose
• icp-log-viewer UI: add option to visualize voxelmaps empty space
• Contributors: Jose Luis Blanco-Claraco

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