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mp2p_icp

  • Software
  • Navigation and mapping
  • Library

C++ libraries for multi primitive-to-primitive ICP registration and flexible point cloud processing pipelines, with command-line tools for converting, filtering and exporting metric maps.

Made by The MOLA SLAM framework.

Source on GitHub: github.com/MOLAorg/mp2p_icp (opens in a new tab). Facts read at commit a3ce354 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from COPYING (opens in a new tab) (BSD-3-Clause) at commit a3ce354 (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Provides the mp2p_icp_map library with a generic metric map container for point cloud data, stored in .mm files.
  • Provides the mp2p_icp library with ICP matchers (point-to-point, point-to-plane, point-to-line, covariance-to-covariance, adaptive) and solvers such as Horn, OLAE and Gauss-Newton.
  • Provides the mp2p_icp_filters library with decimation, outlier removal, geometric filtering and feature extraction for point clouds.
  • Includes converters from KITTI, plain-text and simple map formats into metric maps, and exporters to PLY, TXT and LAS.
  • Includes a headless mp2p_icp_core ROS package and a separate mp2p_icp_viz package with GUI viewers for maps and ICP logs.
  • Includes icp-run to execute ICP pipelines from the command line and sm-cli for simple map manipulation.

Written by Robotheca from the project's README (opens in a new tab) at commit a3ce354.

Getting started

Difficulty
Advanced

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
19 Oct 2026 on develop
Latest release
mp2p_icp 3.0.2 (6 Oct 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.