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pyproject.toml

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README.md
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- **Highly Optimized** : The implementation of the core registration algorithm is further optimized from that in fast_gicp. It enables up to **2x speed gain** compared to fast_gicp.
- **All parallerized** : small_gicp offers parallelized implementations of several preprocessing algorithms to make the entire registration process parallelized (Downsampling, KdTree construction, Normal/covariance estimation). As a parallelism backend, either (or both) of [OpenMP](https://www.openmp.org/) and [Intel TBB](https://github.com/oneapi-src/oneTBB) can be used.
- **Minimum dependency** : Only [Eigen](https://eigen.tuxfamily.org/) (and bundled [nanoflann](https://github.com/jlblancoc/nanoflann) and [Sophus](https://github.com/strasdat/Sophus)) are required at a minimum. Optionally, it provides the [PCL](https://pointclouds.org/) registration interface so that it can be used as a drop-in replacement for registration algorithms in PCL.
- **Minimum dependency** : Only [Eigen](https://eigen.tuxfamily.org/) (and bundled [nanoflann](https://github.com/jlblancoc/nanoflann) and [Sophus](https://github.com/strasdat/Sophus)) are required at a minimum. Optionally, it provides the [PCL](https://pointclouds.org/) registration interface so that it can be used as a drop-in replacement in many systems.
- **Customizable** : small_gicp is implemented with the trait mechanism that enables feeding any custom point cloud class to the registration algorithm. Furthermore, the template-based implementation allows customizing the regisration process with your original correspondence estimator and registration factors.
- **Python bindinds** : The isolation from PCL makes small_gicp's python bindinds more portable and connectable to other libraries seamlessly.
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</details>
## Usage (Python)
[basic_registration.py](src/example/basic_registration.py)
## Usage (Python) [basic_registration.py](src/example/basic_registration.py)
<details><summary>Expand</summary>

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pyproject.toml Normal file
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[build-system]
requires = ["setuptools>=42", "wheel", "pybind11>2.10.0"]
build-backend = "setuptools.build_meta"