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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.
• mm2ply: CLI tool to export the layers of a metric map (*.mm) in PLY format.
• 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

2.4.0 (2026-01-21)

• Merge pull request #27 from MOLAorg/feat/new-filter-voxel-sor
• Add new unit test for class factory
• Add new FilterVoxelSOR filter
• Merge pull request #26 from MOLAorg/feat/mm2las
• Add mm2las CLI tool
• Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-01-14)

• Merge pull request #25 from MOLAorg/feat/naive-decimate Add trivial FilterDecimate for fast downsampling without spatial awareness
• lint fixes
• Add trivial FilterDecimate for fast downsampling without spatial awareness
• Parameterizable: add virtual base dtor
• Remove the NormalizeIntensity stage in the demo pipelines; visualization does that already
• docs: fill missing manpages
• docs: add sm2mm pipelines page
• Clarify map layers and simple maps descriptions Updated references to CMetricMap and CGenericPointsMap in the documentation for clarity and accuracy.
• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2026-01-08)

• Merge pull request #24 from MOLAorg/feat/mm2txt-select-fields mm2txt and mm2ply now have a --export-fields flag
• mm2txt and mm2ply now have a --export-fields flag
• Merge pull request #23 from MOLAorg/fix/some-deprecations Fix usage of deprecated cloud types
• Provide shortcut names for common cloud field names
• More deprecated cloud usage
• FIX bug: FilterDecimateVoxel, if using flatten, did not propagate all input cloud fields
• Fix usage of some deprecated cloud types
• FilterSOR: create output layers even if input is empty
• FilterDeskew: propagate input fields even if the cloud is empty
• FilterByExpression: show debug-level stats
• FilterNormalizeIntensity: do not throw on empty clouds
• Merge pull request #22 from MOLAorg/feat/new-filters Add new filter FilterRenameLayer
• Added filter FilterRenameLayer
• mm2txt: prepare for deprecated classes in 3.0.0
• FilterAdjustTimestamps: new method 'None' to bypass filter
• Fix: sm2mm did not attach to ParameterSource the final_filter elements
• sm2mm: did not observe the optional profiler parameter for the final_filter stage
• Fix: FilterMLS did not properly copy all point fields when using upsampling
• Fix: FilterAbsoluteTimestamp now also works for accumulated points in one layer
• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2026-01-06)

• Merge pull request #21 from MOLAorg/feat/abs-stamp-filter Added new filter: FilterAbsoluteTimestamp
• Fix the logic of the FilterEdgePlane filter parameters
• Added new filter: FilterAbsoluteTimestamp
• mm2txt: also export uint8 fields (missing in last release)
• Merge pull request #20 from MOLAorg/feat/more-unit-tests More unit tests
• Add generators unit tests
• More unit tests
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-12-28)

• docs: explain FilterSOR
• Merge pull request #19 from MOLAorg/feat/mm2ply Add mm2ply CLI tool
• Merge pull request #18 from MOLAorg/feat/new-sor-filter Add FilterSOR: Statistical Outlier Rejection
• More unit tests: cover MLS
• Merge pull request #17 from MOLAorg/feat/filter-by-expr Add new filter: FilterByExpression
• More code coverage; fix protected-level initialize methods

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