KISS-Matcher
KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples
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Download Latest Version (.zip)- bug_report.md
- config.yml
- questions.md
- ci-cpp.yml
- ci-python.yml
- compile-issue-tests.yml
- issue_comment.yml
- pypi-publish.yml
- LICENSE
- tbb.cmake
- download_datasets.cmake
- find_dependencies.cmake
- fpfh.h
- matcher.h
- quatro_utils.h
- conversion_speed_comparison.cc
- downsampling_speed_comparison.cc
- fpfh.cc
- matcher.cc
- run_kiss_matcher.cc
- run_matching_using_bunny.cc
- CMakeLists.txt
- COLCON_IGNORE
- README.md
- eigen.cmake
- eigen.patch
- LICENSE
- robin.cmake
- LICENSE
- tbb.cmake
- teaserpp.cmake
- LICENSE
- tsl_robin.cmake
- find_dependencies.cmake
- CompilerOptions.cmake
- Findflann.cmake
- kiss_matcherConfig.cmake
- kdtree.hpp
- kdtree_tbb.hpp
- nanoflann.hpp
- nanoflann_tbb.hpp
- traits.hpp
- downsampling.hpp
- eigen.hpp
- fast_floor.hpp
- point_cloud.hpp
- traits.hpp
- vector3i_hash.hpp
- robin_growth_policy.h
- robin_hash.h
- robin_map.h
- robin_set.h
- FasterPFH.cpp
- FasterPFH.hpp
- GncSolver.cpp
- GncSolver.hpp
- KISSMatcher.cpp
- KISSMatcher.hpp
- ROBINMatching.cpp
- ROBINMatching.hpp
- CMakeLists.txt
- COLCON_IGNORE
- README.md
- quickstart.py
- run_kiss_matcher.py
- .gitignore
- CMakeLists.txt
- kiss_matcher_pybind.cpp
- stl_vector_eigen.h
- __init__.py
- io_utils.py
- __init__.py
- test_kiss_matcher.py
- bin2pcd.py
- download_datasets.py
- CMakeLists.txt
- COLCON_IGNORE
- LICENSE
- pyproject.toml
- README.md
- ouster64.yaml
- velodyne16.yaml
- alignment_config.yaml
- params.yaml
- slam_config.yaml
- loop_closure.h
- loop_detector.h
- loop_types.hpp
- pose_graph_manager.h
- pose_graph_node.hpp
- utils.hpp
- tictoc.hpp
- inter_frame_alignment.launch.yaml
- run_kiss_matcher_sam.launch.yaml
- slam_in_kimera_multi.launch.yaml
- visualizer_launch.py
- kimera_multi_initial_alignment.rviz
- kiss_matcher_reg.rviz
- kiss_matcher_sam.rviz
- slam_in_kimera_multi.rviz
- loop_closure.cpp
- loop_detector.cpp
- pose_graph_manager.cpp
- inter_frame_alignment.cpp
- registration_visualizer.cpp
- run_kiss_matcher.cpp
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
- README_ROS2_REGISTRATION.md
- install_robin.sh
- install_teaserpp.sh
- .clang-format
- .gitignore
- .pre-commit-config.yaml
- CONTRIBUTING.md
- LICENSE
- Makefile
- README.md
π Installation Guide
git clone https://github.com/MIT-SPARK/KISS-Matcher
Downloads the entire project code from GitHub to your computer.
cd KISS-Matcher
Moves into the project folder you just downloaded.
2. Official Install Script
Easy Recommended- Python 3 Python is required to use pip.
pip install kiss-matcher # core only (numpy)
Installs the package published on PyPI directly β no need to clone the source.
pip install kiss-matcher[viz] # adds viser for the visualization demo
Installs the package published on PyPI directly β no need to clone the source.
pip install --upgrade pip setuptools wheel scikit-build-core ninja cmake build
Installs the package published on PyPI directly β no need to clone the source.
Pulled directly from this repo's README.
3. CMake
Medium> CMake Error: Not a file: ${your_directory}/KISS-Matcher/cpp/kiss_matcher/build/_deps/robin-build/cmake_install.cmake
Type this command into your terminal and run it.
> CMake Error: Error processing file: ${your_directory}/KISS-Matcher/cpp/kiss_matcher/build/_deps/robin-build/cmake_install.cmake
Type this command into your terminal and run it.
cmake -S cpp/kiss_matcher -B build \
Type this command into your terminal and run it.
cmake --build build -j$(sysctl -n hw.ncpu)
Type this command into your terminal and run it.
pip install --upgrade pip setuptools wheel scikit-build-core ninja cmake build
Installs the package published on PyPI directly β no need to clone the source.
Pulled directly from this repo's README.
4. Python
Easypip install kiss-matcher # core only (numpy)
Installs the package published on PyPI directly β no need to clone the source.
pip install kiss-matcher[viz] # adds viser for the visualization demo
Installs the package published on PyPI directly β no need to clone the source.
pip install --upgrade pip setuptools wheel scikit-build-core ninja cmake build
Installs the package published on PyPI directly β no need to clone the source.
pip install -e python/
Installs the Python libraries listed in requirements.txt (or similar).
<a href="https://pypi.org/project/kiss-matcher/"><img src="https://readme-typing-svg.demolab.com?font=Fira+Code&weight=500&size=17&duration=2200&pause=900&color=E5E7EB&background=111827¢er=true&vCenter=true&width=460&height=48&lines=%E2%9D%AF+pip+install+kiss-matcher;%E2%9C%93+ready+for+Python" alt="pip install kiss-matcher"/></a>
Installs the Python libraries listed in requirements.txt (or similar).
Pulled directly from this repo's README.
5. Make
Medium- Git Needed to download the project code from GitHub.
- Make Usually pre-installed on Linux/macOS. On Windows, install separately (e.g. via MSYS2 or WSL).
make deps
Compiles the code based on the generated build configuration to produce an executable.
make cppinstall
Compiles the code based on the generated build configuration to produce an executable.
Pulled directly from this repo's README.