├── .dockerignore ├── .gitignore ├── .pre-commit-config.yaml ├── Dockerfile ├── LICENSE ├── LICENSE.txt ├── README.md ├── assets └── overview.png ├── data ├── nclt │ ├── scene_000.json │ ├── scene_001.json │ ├── scene_004.json │ ├── scene_006.json │ ├── scene_007.json │ ├── scene_008.json │ ├── scene_009.json │ ├── scene_010.json │ ├── scene_011.json │ ├── scene_012.json │ ├── scene_013.json │ ├── scene_014.json │ ├── scene_015.json │ ├── scene_016.json │ ├── scene_017.json │ ├── scene_018.json │ ├── scene_019.json │ ├── scene_020.json │ ├── scene_021.json │ ├── scene_022.json │ ├── scene_023.json │ ├── scene_024.json │ ├── scene_025.json │ ├── scene_026.json │ └── scene_027.json └── robotcar │ ├── scene_000.json │ ├── scene_001.json │ ├── scene_002.json │ ├── scene_003.json │ ├── scene_004.json │ ├── scene_005.json │ ├── scene_006.json │ ├── scene_007.json │ ├── scene_008.json │ ├── scene_009.json │ ├── scene_010.json │ ├── scene_011.json │ ├── scene_012.json │ ├── scene_013.json │ ├── scene_014.json │ ├── scene_016.json │ ├── scene_017.json │ ├── scene_018.json │ ├── scene_019.json │ ├── scene_020.json │ ├── scene_021.json │ ├── scene_022.json │ ├── scene_023.json │ ├── scene_024.json │ └── scene_025.json ├── dev_requirements.txt ├── docker-compose.yaml ├── pyproject.toml └── src ├── featup_data └── bpe_simple_vocab_16e6.txt.gz ├── install.sh ├── kiss-icp ├── .clang-format ├── .cmake-format.yaml ├── .gitignore ├── .gitlab-ci.yml ├── .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 │ │ ├── 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 │ │ ├── DescriptorSize.hpp │ │ ├── Deskew.cpp │ │ ├── Deskew.hpp │ │ ├── Preprocessing.cpp │ │ ├── Preprocessing.hpp │ │ ├── Registration.cpp │ │ ├── Registration.hpp │ │ ├── Threshold.cpp │ │ ├── Threshold.hpp │ │ ├── VoxelHashMap.cpp │ │ └── VoxelHashMap.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 │ │ │ ├── kitti.py │ │ │ ├── kitti_raw.py │ │ │ ├── mcap.py │ │ │ ├── mulran.py │ │ │ ├── ncd.py │ │ │ ├── nclt.py │ │ │ ├── nuscenes.py │ │ │ ├── ouster.py │ │ │ ├── paris_luco.py │ │ │ ├── rosbag.py │ │ │ └── tum.py │ │ ├── deskew.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 │ ├── launch │ ├── odometry.launch │ └── odometry.launch.py │ ├── package.xml │ ├── ros1 │ ├── ComputeTransform.cpp │ ├── OdometryServer.cpp │ ├── OdometryServer.hpp │ └── Utils.hpp │ ├── rviz │ ├── kiss_icp_ros1.rviz │ └── kiss_icp_ros2.rviz │ └── srv │ └── ComputeTransform.srv ├── vfm-reg.rviz └── vfm-reg ├── CMakeLists.txt ├── package.xml ├── setup.py └── src ├── __init__.py ├── dataloader ├── __init__.py ├── kitti_odometry.py ├── nclt.py ├── oxford_robotcar.py └── robotcar_sdk │ ├── extrinsics │ ├── ins.txt │ ├── ldmrs.txt │ ├── lms_front.txt │ ├── lms_rear.txt │ ├── mono_left.txt │ ├── mono_rear.txt │ ├── mono_right.txt │ ├── nlct_velodyne.txt │ ├── radar.txt │ ├── stereo.txt │ ├── velodyne_left.txt │ └── velodyne_right.txt │ ├── models │ └── .gitignore │ └── python │ ├── .gitignore │ ├── README.md │ ├── __init__.py │ ├── build_pointcloud.py │ ├── camera_model.py │ ├── image.py │ ├── interpolate_poses.py │ ├── play_images.py │ ├── play_radar.py │ ├── play_velodyne.py │ ├── project_laser_into_camera.py │ ├── radar.py │ ├── requirements.txt │ ├── transform.py │ └── velodyne.py ├── dip ├── lrf.py ├── network.py └── torch-nndistance │ ├── .gitignore │ ├── README.md │ ├── build.py │ ├── src │ ├── my_lib.cpp │ ├── my_lib_cuda.cpp │ └── nnd_cuda.cu │ ├── test.py │ └── torch_nndistance │ ├── .gitignore │ └── __init__.py ├── download_baseline_models.py ├── fcgf ├── __init__.py └── fcgf.py ├── gcl ├── __init__.py └── model │ ├── __init__.py │ ├── common.py │ ├── mlp.py │ ├── projection_head.py │ ├── residual_block.py │ ├── resunet.py │ └── simpleunet.py ├── gedi ├── __init__.py ├── backbones │ ├── pointnet2_ops_lib │ │ ├── .gitignore │ │ ├── MANIFEST.in │ │ ├── pointnet2_ops │ │ │ ├── .gitignore │ │ │ ├── __init__.py │ │ │ ├── _ext-src │ │ │ │ ├── include │ │ │ │ │ ├── ball_query.h │ │ │ │ │ ├── cuda_utils.h │ │ │ │ │ ├── group_points.h │ │ │ │ │ ├── interpolate.h │ │ │ │ │ ├── sampling.h │ │ │ │ │ └── utils.h │ │ │ │ └── src │ │ │ │ │ ├── ball_query.cpp │ │ │ │ │ ├── ball_query_gpu.cu │ │ │ │ │ ├── bindings.cpp │ │ │ │ │ ├── group_points.cpp │ │ │ │ │ ├── group_points_gpu.cu │ │ │ │ │ ├── interpolate.cpp │ │ │ │ │ ├── interpolate_gpu.cu │ │ │ │ │ ├── sampling.cpp │ │ │ │ │ └── sampling_gpu.cu │ │ │ ├── _version.py │ │ │ 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