Libpointmatcher is a modular "Iterative Closest Point" library, useful for robotics and computer vision. This library is designed with modularity and performance in mind. It provides building blocks to construct various ICP chains often seen in research. These chains can be tuned without any recompilation, and new modules can be added without modifying the core of the library.
The libmba package is a collection of mostly independent C modules potentially useful to any project. There are the usual ADTs including a linkedlist, hashmap, pool, stack, and varray, a flexible memory allocator, CSV parser, path canonicalization routine, I18N text abstraction, configuration file module, portable semaphores, condition variables, and more. The code is designed so that individual modules can be integrated into existing codebases rather than requiring the user to commit to the entire library. The code has no typedefs, few comments, and extensive man pages and HTML documentation.