GitHub repository

Allows deep customization of each ICP component like filters and matchers, enabling researchers to tailor algorithms to specific datasets or hardware, as highlighted in the modular implementation.

Built in C++ with dependencies like Eigen and libnabo, ensuring high-performance handling of large point clouds, which is critical for robotics and real-time applications.

Reads and writes point clouds in CSV, VTK, PLY, and PCD formats without extra libraries, simplifying data I/O for various pipelines, as noted in the file formats section.

Provides Docker images for easy deployment and testing, reducing environment setup headaches on supported platforms like Ubuntu, with tags available on DockerHub.