[//]: # ( ==== Description ====================================================================== ) **_libpointmatcher_ is a modular library implementing the Iterative Closest Point (ICP) algorithm
for aligning point clouds. It has applications in robotics and computer vision.**
The library is written in C++ for efficiency with [bindings in Python](doc/index.md#python-).

[//]: # (====Badges===============================================================================)

[//]: # (====Awesome badges=======================================================================) [](https://github.com/szenergy/awesome-lidar#basic-matching-algorithms)       [](http://jslee02.github.io/awesome-robotics-libraries/#3d-mapping)       [](https://github.com/ahundt/awesome-robotics#point-clouds)
            ^{LIDAR                             Robotics                 Robotics Libraries}

---

Supported OS And Architecture

libpointmatcher is tested on our build system under the following:

• OS: Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)
• Computer architecture: x86 and arm64/v8

Note:

• libpointmatcher reportedly works on Mac OS X (latest) and Windows (latest)

★ Version >= 1.4.0 Release Note

This release of libpointmatcher introduces the integration of norlab-build-system (NBS) as a git submodule for codebase development and testing.

Execute the following to clone the repository with its submodule:

git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git

If libpointmatcher was previously cloned, execute the following to fetch its new submodule

git submodule update --remote --recursive --init

★ Contributing Instructions

See contributing_instructions.md for instructions related to bug reporting, code contribution and for setting up the libpointmatcher-build-system on your workstation to speed up your local development workflow.

Documentation and Tutorials

**Quick link for the tutorial pages: Tutorials.

Those tutorials are written using Markdown syntax and stored in the project’s /doc folder. Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library’s codebase.

Libpointmatcher’s source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found here, but it is suggested to use the one build for your version in doc/html.

libpointmatcher was orginaly developed by François Pomerleau and Stéphane Magnenat as part of our work at ASL-ETH. It is now maintained by the Northern Robotics Laboratory (Norlab), led by François Pomerleau.

You can read the latest changes in the release notes.

Quick Start

Docker images

To install docker related dependencies on ubuntu, execute the following

```bash

File truncated at 100 lines see the full file