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

EOL Distro	Last release
ROS1 Noetic (u20.04)
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_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

2.2.0 (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
• Add new filter: FilterByExpression
• FIX: missing uint8 fields in Deskew
• sanityCheck: also check all double/uint8 fields
• ui: fix case without geo-ref
• mm-viewer: show lat/lon coordinates for mouse selected points
• mm-viewer: GUI now shows the ENU & map miniviews for orientation hints
• mm-viewer: handle special coloring channel groups 'rgb' and 'rgbf'
• clean non used code in deskew test
• map viz: use new mrpt 2.15.3 coloring modes
• sm2mm: auto-guess lazy-load externals directory for .simplemap files
• mm-viewer: implement colorize clouds by any field
• MLS filter: add 'output_layer_class' parameter
• mm2txt: export all fields of CGenericPointsMap layers
• Merge pull request #16 from MOLAorg/fix/generic-cloud-deskew-fields Add test for missing fields in generic cloud deskew
• FIX: correctly register arbitrary pointcloud fields into output clouds
• Add test for missing fields in generic cloud deskew
• sm2mm: FIx console message on "FinalFilters" did not obey verbosity level
• Fix clang-tidy warnings
• Contributors: Jose Luis Blanco-Claraco

2.1.2 (2025-11-28)

• mm-viewer: Automatic retry to load maps if missing plugins, trying to reload with libmola_metric_maps.so
• Enable coverage run for noble docker image
• Add new unit tests
• docs: fix broken formatting of filters page
• Merge pull request #14 deskew filter: refactoring to handle arbitrary point fields
• get code ready for API update in MRPT 2.15.3
• Fix build w/o imu library
• mm-viewer: add keystrokes shift+cursor arrows to move up/down
• Add Codecov badge to README
• MLS filter: add progress report logging
• Contributors: Jose Luis Blanco-Claraco

2.1.1 (2025-11-08)

• FIX: SanityCheck was triggering as errors optional pointcloud fields in XYZIRT clouds
• FIX: Throw exception instead of crashing if FilterDeskew is invoked with an empty local velocity buffer
• Fix yaml file for not using mola_yaml extensions
• Add more sm2mm demo pipelines
• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-28)

• Merge pull request #13 from MOLAorg/fix/filterdecimate-bug
• Add unit test for FilterDecimateVoxel
• mm-viewer: ensure proper order of opengl object destruction
• Add more debug traces for Filters
• Generator: Add more info on layer contents in debug traces
• FIX: Avoid crash in FilterVoxelSlice if there are no points in the ROI
• Merge pull request #12 from MOLAorg/feat/mls Implemented MLS filter
• Merge pull request #11 from MOLAorg/feat/use-faster-insertion Use the faster insertion-with-context in MRPT 2.15.0
• Update to build using CGenericPointsMap in upcoming MRPT >=2.15
• Merge pull request #10 from MOLAorg/fix/ci
• Upgrade CircleCI images to u24.04
• Fix build out of ROS and w/o IMU preintegration
• Update mola_common version
• Fix: Warning message missing new line
• FilterDecimateVoxels: add new parameter 'minimum_points_per_voxel'
• Fix docs typo
• Update docs for Deskew filter

File truncated at 100 lines see the full file