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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_common: Provides utility classes like ParameterSources and IMU-based velocity buffers.
• 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

2.0.0 (2025-10-13)

• Merge pull request #9 from MOLAorg/feature/better-lio Better LIO
• sm2mm cli app: add --profiler flag
• demo sm2mm pipelines: add deskew method entry
• CI: Add another pipeline without TBB
• FIX: bug in non-TBB serial implementation of GN optimizer
• CI: add running unit tests
• FIX: potential crash in FilterDeskew
• Add deskew unit tests
• Add unit test for cov2cov optimizer
• Add 'name' property to all generators and filters for disaggregated stats
• Allow building without the IMU library
• Update mola_common to 0.5.1
• clang-tidy fixes
• Remove dead code
• Refactor errorTerm for pt2pt for better reusability
• mm-viewer: add combo box to select intensity colormap
• Add docs for filters
• BUGFIX: FilterMerge would lost all point fields except XYZ
• Remove external libpointmatcher
• Update formatter script
• icp log viewer: more options for cov2cov visualization
• Define virtual API MetricMapMergeCapable
• fix bug in FilterByIntensity params parser
• Render cov2cov pairings
• FilterByRange new parameter: metric_l_infinity
• FilterDecimateAdaptive now exploits parallelization
• Progress visualizing cov2cov pairings
• New cov2cov ICP optimizer
• Implement a new Cov2Cov matcher
• Make Matcher_Points_Base::transform_local_to_global() to use TBB, and remove unused parameters
• Add [[nodiscard]] to estimate_points_eigen()
• BBox filter: fix target layer must be same type than input
• Use fractional integers for faster sampling
• New FPS filter
• Remove FilterDecimateVoxelsQuadratic
• Style: public 'params_' rename as 'params'
• New interface 'IcpPrepareCapable'
• Add new virtual interface NearestPointWithCovCapable
• Refactor mp2p_icp_map into mp2p_icp_common for IMU-related parts
• Finished integration of new IMU API package
• Depend on imu external library
• Move code out to the imu preintegration package
• Move LocalVelocityBuffer to the IMU repository
• Add [[nodiscard]] to icp_pipeline_from_yaml()
• deskew filter: new option 'in_place' to avoid allocating a new cloud whenever possible
• Finish implementation of higher-order IMU interpolator
• Implement trajectory reconstruction for deskew
• cmake files: prefer spaces indentation
• Add imu preintegration package as dependency
• FilterNormalizeIntensity can now use a fixed min/max range given by hand
• Docs: update mp2p_icp_basics for better searchability of simplemaps
• New option to set pointcloud alpha channel
• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-08-26)

• Modernize and unify license notes in all files
• Merge pull request #8 from MOLAorg/feat/precise-deskew Precise scan deskew:
  • Implement LocalVelocityBuffer inside ParameterSource's
  • Update LocalVelocityBuffer from IMU data from Generators.
  • Export / Import LocalVelocityBuffer to/from YAML
  • Implement precise cloud undistortion in FilterDeskew
  • Use precise cloud undistortion in the context of sm2mm.
• sm2mm: Use local velocity buffer if available
• add serialization to velocity buffer
• Generators now handle IMU readings and forward them to the velocity buffer
• Update to latest mola_common for embedded builds
• linter: clang-tidy fixes
• fix param name for better consistency
• feature: Option to use std::map instead of tsl robin_map in voxelization filters
• docs: fill txt2mm man page
• Feature: txt2mm new import format 'xyzrgb_normalized'
• remove code to support older MRPT versions; code style clean ups
• Fix: FilterAdjustTimestamps may trigger exception if input cloud is empty
• Contributors: Jose Luis Blanco-Claraco

1.7.1 (2025-06-20)

• docs: Populate sm2mm app page
• New feature: all pipeline modules now has an optional "plugin" YAML field to load them from user-provided plugins.
• Update REAME ROS badges
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-06-02)

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