Kiss-icp

Major refactor of KISS-ICP to add ROS2 support



major changes

- Add Sophus dependency to improve readability of the registration pipeline
- Move registration loop inside the Registracion.cpp module for better consistency
- Re arrange folder structure

New features

- Python folder is now a standalone project that can be used independently of the git repository
- ROS folder is now a standalone project that can be used independently of the git repository
- ROS2 support, alongside with ROS1 support. Pick the one you like the most.

New features:

- config files are now optional thanks markuspi
- new voxel type, improves readability and a bit performance tizianoGuadagnino
- Rotations stays "roatations", the Python API still opeartes on 4x4 matrices tizianoGuadagnino and mattalvarado
- some typos fixed LimHyungTae


Thanks everyone for the contributions!

[](https://user-images.githubusercontent.com/21349875/219626075-d67e9165-31a2-4a1b-8c26-9f04e7d195ec.mp4
)

Just:

sh
$ cd ~/catkin_ws/ && git clone https://github.com/PRBonn/kiss-icp && catkin build

and enjoy!

https://user-images.githubusercontent.com/21349875/214351010-7e1abb90-0b0f-4cbd-a50a-5b2f790b0f28.mp4

Just moving files here and there :-)

ROS support coming soon...

As promised! The entire project is now open-source!!!

Feel free to submit any new issue if something is not working as expected