Welcome to TEASER++

TEASER++ is a fast and certifiably-robust point cloud registration library written in C++, with Python and MATLAB bindings.

• Installation
  • Supported Platforms
  • Installing Dependencies
  • Compilation and Installation
    • Installing C++ libraries and headers
    • Installing Python bindings
    • Installing MATLAB Bindings
  • Available CMake Options
  • Run Tests
• Quick Start
  • Usage in C++ Projects
  • Usage in Python Projects
  • Usage in MATLAB Projects
  • Usage In ROS Projects
• Known Issues

API

If you are looking for information on a specific class or method, please refer to the following pages:

• C++ API
  • Solver API
    • Registration Solution
    • 7-DoF Solver
    • Translation Solver
    • Rotation Solver
    • Scale Solver
    • TLS Estimator
  • Certifier API
    • Certification Result
    • Rotation Certifier
• Python API
• MATLAB API
  • teaser_solve
  • Examples
    • Estimate a registration problem with known scale
    • Estimate a registration problem with unknown scale

Indices and tables

• Index

• Module Index

• Search Page

Acknowledgements

This work was partially funded by ARL DCIST CRA W911NF-17-2-0181, ONR RAIDER N00014-18-1-2828, Lincoln Laboratory “Resilient Perception in Degraded Environments”, and the Google Daydream Research Program.