Simple yet effective 3D LiDAR-Odometry registration pipeline
Project description
KISS-ICP
Install Python API
We released a python-package supported on , , and .
To get started, just run
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]"
Next, follow the instructions on how to run the system by typing:
kiss_icp_pipeline --help
This should print the following help message:
Install Python API (developer mode)
If you plan to modify the code then you need to setup the dev dependencies, luckilly, the only real
requirements are a modern C++ compiler and the pip
package manager, nothing else!, in Ubuntu-based
sytems 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
pip install --verbose .
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 = {1-8},
doi = {10.1109/LRA.2023.3236571},
volume = {8},
number = {2},
year = {2023},
codeurl = {https://github.com/PRBonn/kiss-icp},
}
Star History
Project details
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distributions
Hashes for kiss_icp-0.2.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 5397c55bb17c305dfbff8914c7e6d0af3a79d2d42e4e601f95f5b2e6aed0b4d9 |
|
MD5 | 874fff32ed43b5ac8c1248df250e19ab |
|
BLAKE2b-256 | 5e2366306752cad71adf388ff9e24db6fece96cd03f4da0eb43554c16da9edda |
Hashes for kiss_icp-0.2.2-cp311-cp311-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | cfc55fc4483bcc97307221468e36f5d2176901b30a61648bac8900dfdb5bcb51 |
|
MD5 | 314f04bc106d4e211dfa414b5ef937ed |
|
BLAKE2b-256 | dc7da85c30bf5c3162d70dce74f9e80de1b57a4a2c86402a2dde8e7b2fd5562b |
Hashes for kiss_icp-0.2.2-cp311-cp311-macosx_10_9_universal2.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 413537ce19bb018693b2a0812ee28fa705cefd831d5a2ac4508e1a97908d08e9 |
|
MD5 | 9ee2027c1b09611da4562ab70a618eb3 |
|
BLAKE2b-256 | 0f632058a590f7d1707f297229099990a63ef7739e654a18806160377d527b64 |
Hashes for kiss_icp-0.2.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e823b46ff7aed3bb08cef863251bb34ce85f4cee7ad8895cb2011006ee4f114f |
|
MD5 | bb26da09bfc41213eb679f38d5e6b904 |
|
BLAKE2b-256 | 1171796fd6f8e83d8f1f6473924bea617bdd96377ef502fffc3e7cdc165a6136 |
Hashes for kiss_icp-0.2.2-cp310-cp310-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e3acd70be53151fd66814b1c790594d5555ed710a5fe5672c7d99601172dd4c3 |
|
MD5 | 33c9c6cdfcc2e3f9be18c921a66be03a |
|
BLAKE2b-256 | b49daae74c541f83d84444a9c64721e00f05232e98e257c1e249ad43447a8937 |
Hashes for kiss_icp-0.2.2-cp310-cp310-macosx_10_9_universal2.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 2839687a65646f306f3e02f1a3de70d611f05f6a9354e809c76b04c15e9257fc |
|
MD5 | 212a195b1a63ac997749ddf0836f80ab |
|
BLAKE2b-256 | 05d4a5c7c6000027455a0b6810633bdfc81cb0ceb03d54d5b84a70092a4f47a7 |
Hashes for kiss_icp-0.2.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 89b4d76125aa2c008e90c5e0e0bdc64b5fdbdd72498bc6d4099d8486a3647657 |
|
MD5 | 0f9f397c788c45eba4be12432982c2b9 |
|
BLAKE2b-256 | 943701027ea735725af36103cb67480e7a0131d087589ac278e6614ea2be65a5 |
Hashes for kiss_icp-0.2.2-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | ccec1045cbb7238714c50a16b2776e68ba29bf8b7dc38bbc14673a6861ea3b74 |
|
MD5 | 8401e898983f6ce242d59e672a07406b |
|
BLAKE2b-256 | 5eb2180a429bd33376d933d46e85d6d0434af45cd30c76aadb54513a6b2af6b9 |
Hashes for kiss_icp-0.2.2-cp39-cp39-macosx_10_9_universal2.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 42c91aa9b11f0c4f4e2f4166b9e750f5a307c8f56a8ec4ab238d9e363635c741 |
|
MD5 | 9aa125aef622b02d38036cfb043bba86 |
|
BLAKE2b-256 | c931cf3e59efd4f9ad090a9b52e5e41f3983113322dbdd3e53f80c654209578e |
Hashes for kiss_icp-0.2.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | dee048f4c97685183eb7511635ba43db131d11974be27a6044bd8a09185ce1d0 |
|
MD5 | e3ca5a92a8f43428c483fa8a015abf0f |
|
BLAKE2b-256 | 7a344c5c25e9568d4d33e276039f48f4143e12ecc0272f15ac7d8add0eb29c70 |
Hashes for kiss_icp-0.2.2-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 92b82992a898b70f47251f91c37e5f9703dab8ee4709b8fdc0b619e6cb298fd1 |
|
MD5 | 78a705eed6a5bed09393bbfe3cd60587 |
|
BLAKE2b-256 | 61d50ff59926659afb758563e77e3cdeba45d5eedabe9a40ab49e1ece37da1ec |
Hashes for kiss_icp-0.2.2-cp38-cp38-macosx_10_9_universal2.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | c16d7e5558953a9251ccb09d525b1e17ac2cae144e2865d67be4c62e5da22573 |
|
MD5 | 5385e301ac345cfa15699ce314fe30d1 |
|
BLAKE2b-256 | e8b46bb3f63188336848f50ec61bd35e23e56dceeff14947152e214611a210f7 |
Hashes for kiss_icp-0.2.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 317b9106a37693d9c67a1c4699e3b1b885e4a3e204ffab7b0a2d33b639f82194 |
|
MD5 | 984f7ee0912cf64bcc0c93729accda4b |
|
BLAKE2b-256 | 64ac24aad17029be3b57561b6ac37bcd6dab1de59b6a94ea36a71f191c13a0d4 |
Hashes for kiss_icp-0.2.2-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | f3ac59996ddb6c47db809d333b5834303eeed5532dfd7e17a390e73a2be58a12 |
|
MD5 | 146c13a18c255d28aa38b287a0820094 |
|
BLAKE2b-256 | df6e01d7a2718c203c396d36bae8681eabda91b507d83e23039ca4c8f6cfcb0d |
Hashes for kiss_icp-0.2.2-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 33a91e9d61ef6060add55feac066d095b8808823b917ec6287bde9d874332c82 |
|
MD5 | 094d069b4ad7f94d08e17646ad3bc252 |
|
BLAKE2b-256 | 5acbe1dd14631054c72fdda09bb8f3fb2e36cc6ef0bf2667e1914dcb2efea8f1 |
Hashes for kiss_icp-0.2.2-cp36-cp36m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | f46af4dcb02eca9a0bcdfc24d98610a63fd5ab0e96ad58032f5025eb855cdf48 |
|
MD5 | 0cbc89fdb71632ef75af83261532a197 |
|
BLAKE2b-256 | 6dc249c4f46bd247e13364a498f4a077d065bdf187f98453946f0b7ce0bec3e0 |