ALICE-LRI¶

Lossless range image generation and reconstruction for spinning 3D LiDAR point clouds.

What is ALICE-LRI?¶

ALICE-LRI is a C++ and Python library for lossless range image generation and reconstruction from spinning 3D LiDAR point clouds. It automatically estimates all intrinsic sensor parameters from data—no calibration files or vendor metadata needed. This enables accurate, sensor-agnostic projection to range images and full recovery of 3D LiDAR data.

Features¶

Automatic Intrinsic Estimation: Estimate LiDAR intrinsic parameters from point cloud data. No calibration files or manufacturer metadata needed.
Lossless Range Image Projection: Convert 3D point clouds to 2D range images with zero information loss.
Point Cloud Reconstruction: Unproject range images back to 3D point clouds, recovering original data up to numerical precision.
JSON Serialization: Save and load intrinsic parameters to/from JSON files or strings for easy storage and sharing.
Cross-Platform: Supports Windows, Linux, and macOS (macOS requires building from source).
Dual Interface: Native C++ API and Python bindings for maximum flexibility.

Get Started¶

New here? Start with installation, examples, logging, and integration tips:

Installation

Install from PyPI or build from source. Link the C++ library with CMake or g++, configure logging.

installation.html

Getting Started

Quick intro, features, and your first Python and C++ examples.

getting_started.html

API Reference¶

When you’re ready to dive deeper, browse the auto-generated references:

Python API

Modules, functions, and types available from the Python package.

python_api.html

C++ API

Classes, functions, and namespaces generated from headers and sources.

cpp_api.html

Project Info¶

Repository: https://github.com/alice-lri/alice-lri
License: MIT — see the LICENSE file in the repository.
Contributing: See CONTRIBUTING.md for the code of conduct and submission process.

Citation¶

If you use this library in your research, please cite:

 @misc{soutullo2025alicelri,
      title={ALICE-LRI: A General Method for Lossless Range Image Generation for Spinning LiDAR Sensors without Calibration Metadata},
      author={Samuel Soutullo and Miguel Yermo and David L. Vilariño and Óscar G. Lorenzo and José C. Cabaleiro and Francisco F. Rivera},
      year={2025},
      eprint={2510.20708},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2510.20708},
}

Link to paper: https://arxiv.org/abs/2510.20708