├── .clang-format ├── .cmake-format.yaml ├── .gitattributes ├── .github ├── CODEOWNERS └── workflows │ ├── cpp.yml │ ├── pre-commit.yml │ ├── pypi.yml │ ├── python.yml │ └── ros.yml ├── .gitignore ├── .pre-commit-config.yaml ├── CITATION.cff ├── LICENSE ├── Makefile ├── README.md ├── config ├── README.md ├── advanced.yaml └── basic.yaml ├── cpp ├── COLCON_IGNORE └── kiss_icp │ ├── 3rdparty │ ├── eigen │ │ ├── LICENSE │ │ ├── eigen.cmake │ │ └── eigen.patch │ ├── find_dependencies.cmake │ ├── sophus │ │ ├── LICENSE │ │ └── sophus.cmake │ ├── tbb │ │ ├── LICENSE │ │ └── tbb.cmake │ └── tsl_robin │ │ ├── LICENSE │ │ └── tsl_robin.cmake │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ └── CompilerOptions.cmake │ ├── core │ ├── CMakeLists.txt │ ├── Preprocessing.cpp │ ├── Preprocessing.hpp │ ├── Registration.cpp │ ├── Registration.hpp │ ├── Threshold.cpp │ ├── Threshold.hpp │ ├── VoxelHashMap.cpp │ ├── VoxelHashMap.hpp │ ├── VoxelUtils.cpp │ └── VoxelUtils.hpp │ ├── metrics │ ├── CMakeLists.txt │ ├── Metrics.cpp │ └── Metrics.hpp │ └── pipeline │ ├── CMakeLists.txt │ ├── KissICP.cpp │ └── KissICP.hpp ├── eval ├── .gitignore ├── README.md ├── kiss_icp_eval.py ├── kitti.ipynb ├── kitti_raw.ipynb ├── mulran.ipynb └── newer_college.ipynb ├── python ├── CMakeLists.txt ├── COLCON_IGNORE ├── LICENSE ├── MANIFEST.in ├── README.md ├── kiss_icp │ ├── __init__.py │ ├── config │ │ ├── __init__.py │ │ ├── config.py │ │ └── parser.py │ ├── datasets │ │ ├── __init__.py │ │ ├── apollo.py │ │ ├── boreas.py │ │ ├── generic.py │ │ ├── helipr.py │ │ ├── kitti.py │ │ ├── kitti_raw.py │ │ ├── mcap.py │ │ ├── mulran.py │ │ ├── ncd.py │ │ ├── nclt.py │ │ ├── nuscenes.py │ │ ├── ouster.py │ │ ├── rosbag.py │ │ └── tum.py │ ├── kiss_icp.py │ ├── mapping.py │ ├── metrics.py │ ├── pipeline.py │ ├── preprocess.py │ ├── pybind │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── kiss_icp_pybind.cpp │ │ └── stl_vector_eigen.h │ ├── registration.py │ ├── threshold.py │ ├── tools │ │ ├── __init__.py │ │ ├── cmd.py │ │ ├── pipeline_results.py │ │ ├── point_cloud2.py │ │ ├── progress_bar.py │ │ └── visualizer.py │ └── voxelization.py ├── pyproject.toml └── tests │ └── test_kiss_icp.py └── ros ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config └── config.yaml ├── launch └── odometry.launch.py ├── package.xml ├── rviz └── kiss_icp.rviz └── src ├── OdometryServer.cpp ├── OdometryServer.hpp └── Utils.hpp /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PRBonn/kiss-icp/HEAD/.clang-format -------------------------------------------------------------------------------- /.cmake-format.yaml: -------------------------------------------------------------------------------- 1 | enable_markup: false 2 | line_width: 120 3 | format: 4 | max_subgroups_hwrap: 5 5 | -------------------------------------------------------------------------------- /.gitattributes: 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