KISS-ICP
Demo • Install • ROS 2 • ROS Demo • Paper • Contact Us
KISS-ICP is a LiDAR Odometry pipeline that just works on most of the cases withouth tunning any parameter.
Install
pip install kiss-icp
If you also want to install all the (optional) dependencies, like Open3D for running the visualizer:
pip install "kiss-icp[all]"
Running the system
Next, follow the instructions on how to run the system by typing:
kiss_icp_pipeline --help
This should print the following help message:
Config
You can generate a default config.yaml by typing
kiss_icp_dump_config
Now, you can modify the parameters and pass the file to the --config option when running the kiss_icp_pipeline.
Install Python API (developer mode)
If you plan to modify the code then you need to setup the dev dependencies, luckily, the only real
requirements are a modern C++ compiler and the pip package manager, nothing else!, in Ubuntu-based
systems this can be done with:
sudo apt install g++ python3-pip
After that you can clone the code and install the python api:
git clone https://github.com/PRBonn/kiss-icp.git
cd kiss-icp
make editable
Install Python API (expert mode)
If you want to have more controll over the build, you should then install cmake, ,ninja, tbb,
Eigen, and pybind11 as extra dependencies in your system, the ubuntu-way of doing this is:
sudo apt install build-essential libeigen3-dev libtbb-dev pybind11-dev ninja-build
Citation
If you use this library for any academic work, please cite our original paper.
@article{vizzo2023ral,
author = {Vizzo, Ignacio and Guadagnino, Tiziano and Mersch, Benedikt and Wiesmann, Louis and Behley, Jens and Stachniss, Cyrill},
title = {{KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way}},
journal = {IEEE Robotics and Automation Letters (RA-L)},
pages = {1029--1036},
doi = {10.1109/LRA.2023.3236571},
volume = {8},
number = {2},
year = {2023},
codeurl = {https://github.com/PRBonn/kiss-icp},
}
Contributing
We envision KISS-ICP as a comunity-driven project, we love to see how the project is growing thanks to the contributions from the comunity. We would love to see your face in the list below, just open a Pull Request!
1 maintainer
Metadata
1 maintainer
Release files for kiss-icp 1.3.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| kiss_icp-1.3.0.tar.gz | 35.1 kB | Without provenance | Details for kiss_icp-1.3.0.tar.gz |
Built distributions (wheels)
Total release size: 9.5 MB
Release files / kiss_icp-1.3.0.tar.gz
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Release files / kiss_icp-1.3.0-cp313-cp313-win_amd64.whl
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Release files / kiss_icp-1.3.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
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Release files / kiss_icp-1.3.0-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
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Release files / kiss_icp-1.3.0-cp313-cp313-macosx_11_0_arm64.whl
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Release files / kiss_icp-1.3.0-cp312-cp312-win_amd64.whl
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Release files / kiss_icp-1.3.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
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Release files / kiss_icp-1.3.0-cp311-cp311-win_amd64.whl
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Release files / kiss_icp-1.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
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Release files / kiss_icp-1.3.0-cp311-cp311-macosx_11_0_arm64.whl
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Release files / kiss_icp-1.3.0-cp310-cp310-win_amd64.whl
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Release files / kiss_icp-1.3.0-cp39-cp39-win_amd64.whl
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twine/6.1.0 CPython/3.13.12
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Security for kiss-icp 1.3.0
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