norlab-ulaval/libpointmatcher

Health v2 · maintenance only

Adoption not part of the score

1828 stars · 567 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

libpointmatcher is a modular C++ library implementing the Iterative Closest Point (ICP) algorithm for aligning 2D and 3D point clouds, with Python bindings. It is widely used in robotics and computer vision applications such as lidar-based mapping and SLAM.

Use cases

• align point clouds from lidar scans
• register 3D point clouds for robotic mapping
• implement ICP-based scan matching in SLAM
• build 2D/3D maps from robot sensor data
• match point clouds in computer vision pipelines
• integrate ICP into ROS robotics projects

When to choose

• you need a fast, modular, well-tested ICP implementation in C++
• you are doing lidar-based mapping or SLAM in robotics
• you want Python bindings for point cloud registration
• you need a library with ROS and Docker support

When to avoid

• you need general-purpose point cloud processing beyond registration (consider PCL)
• you want a pure-Python solution without C++ dependencies
• you need GPU-accelerated registration out of the box

Facets

library · maturity active

computer-vision image-processing sdk robotics computer-vision cpp python windows icp point-cloud-registration lidar slam point-clouds libnabo ros algorithms linux macos docker

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markdown · JSON · MCP: product_card(name="norlab-ulaval/libpointmatcher")