diff --git a/docs/classicp_1_1_i_c_p.html b/docs/classicp_1_1_i_c_p.html index 314ee30..e464503 100644 --- a/docs/classicp_1_1_i_c_p.html +++ b/docs/classicp_1_1_i_c_p.html @@ -176,7 +176,7 @@

Interface for iterative closest points; please read the Detailed Description for usage information.

Example
// Construct a new vanilla ICP instance.
std::unique_ptr<icp::ICP> icp = icp::ICP::from_method("vanilla");
-
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:113
+
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:112
icp
Definition geo.cpp:9
Usage
Let a and b be two point clouds of type std::vector<Vector>. Then, given an ICP instance icp of type std::unique_ptr<icp::ICP>, perform the following steps.
@@ -212,7 +212,7 @@

-

Definition at line 13 of file icp.cpp.

+

Definition at line 12 of file icp.cpp.

@@ -268,7 +268,7 @@

ICP process for point clouds a and b with an initial guess for the transform t.

-

Definition at line 17 of file icp.cpp.

+

Definition at line 16 of file icp.cpp.

@@ -289,7 +289,7 @@

Definition at line 51 of file icp.cpp.

+

Definition at line 50 of file icp.cpp.

@@ -316,7 +316,7 @@

Returns
Information about the convergence.
-

Definition at line 59 of file icp.cpp.

+

Definition at line 58 of file icp.cpp.

@@ -337,7 +337,7 @@

Definition at line 90 of file icp.cpp.

+

Definition at line 89 of file icp.cpp.

@@ -367,7 +367,7 @@

ICP method name.

Precondition
name is a valid registered method. See ICP::is_registered_method.
-

Definition at line 113 of file icp.cpp.

+

Definition at line 112 of file icp.cpp.

@@ -396,7 +396,7 @@

ICP method.

-

Definition at line 121 of file icp.cpp.

+

Definition at line 120 of file icp.cpp.

@@ -456,7 +456,7 @@

ICP method that can be created with constructor, returning false if name has already been registered.

-

Definition at line 100 of file icp.cpp.

+

Definition at line 99 of file icp.cpp.

@@ -485,7 +485,7 @@

ICP methods.

-

Definition at line 108 of file icp.cpp.

+

Definition at line 107 of file icp.cpp.

@@ -512,7 +512,7 @@

-

Definition at line 15 of file icp.cpp.

+

Definition at line 14 of file icp.cpp.

diff --git a/docs/dir_37cc3c73d5254b7419be442ea9d38477.html b/docs/dir_37cc3c73d5254b7419be442ea9d38477.html new file mode 100644 index 0000000..e570bc4 --- /dev/null +++ b/docs/dir_37cc3c73d5254b7419be442ea9d38477.html @@ -0,0 +1,89 @@ + + + + + + + +scan matching: book/versions Directory Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
scan matching +
+
ICP algorithm library
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ + +
+
+
versions Directory Reference
+
+
+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/docs/dir_b11dea735a166eca9c79fb414c2dda10.html b/docs/dir_b11dea735a166eca9c79fb414c2dda10.html index 8d72cb4..7d1fe40 100644 --- a/docs/dir_b11dea735a166eca9c79fb414c2dda10.html +++ b/docs/dir_b11dea735a166eca9c79fb414c2dda10.html @@ -80,6 +80,12 @@
book Directory Reference
+ + + + +

+Directories

 versions
 
diff --git a/docs/doxygen_crawl.html b/docs/doxygen_crawl.html index b9d785b..8a7506e 100644 --- a/docs/doxygen_crawl.html +++ b/docs/doxygen_crawl.html @@ -31,6 +31,7 @@ + @@ -53,6 +54,7 @@ + @@ -72,8 +74,10 @@ + + diff --git a/docs/files.html b/docs/files.html index 1492f86..1c7e94f 100644 --- a/docs/files.html +++ b/docs/files.html @@ -78,33 +78,34 @@
Here is a list of all files with brief descriptions:
[detail level 123]
- - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 book
 ▼ src
 ▼ algo
 kdtree.cpp
 kdtree.d
 kdtree.h
 quickselect.cpp
 quickselect.d
 quickselect.h
 ▼ icp
 geo.cpp
 geo.d
 geo.h
 icp.cpp
 icp.d
 icp.h
 point_to_line.cpp
 point_to_line.d
 vanilla.cpp
 vanilla.d
 ▼ sim
 lidar_view.cpp
 lidar_view.d
 lidar_view.h
 sim_config.cpp
 sim_config.d
 sim_config.h
 ▼ book
 versions
 ▼ src
 ▼ algo
 kdtree.cpp
 kdtree.d
 kdtree.h
 quickselect.cpp
 quickselect.d
 quickselect.h
 ▼ icp
 geo.cpp
 geo.d
 geo.h
 icp.cpp
 icp.d
 icp.h
 point_to_line.cpp
 point_to_line.d
 vanilla.cpp
 vanilla.d
 ▼ sim
 lidar_view.cpp
 lidar_view.d
 lidar_view.h
 sim_config.cpp
 sim_config.d
 sim_config.h
diff --git a/docs/icp_8cpp.html b/docs/icp_8cpp.html index 72ae6bf..aff7f19 100644 --- a/docs/icp_8cpp.html +++ b/docs/icp_8cpp.html @@ -84,7 +84,6 @@
#include <numeric>
#include "icp.h"
-#include "util/logger.h"

Go to the source code of this file.

diff --git a/docs/icp_8cpp_source.html b/docs/icp_8cpp_source.html index b2c4a72..e42181b 100644 --- a/docs/icp_8cpp_source.html +++ b/docs/icp_8cpp_source.html @@ -92,161 +92,160 @@
5
6#include <numeric>
7#include "icp.h"
-
8#include "util/logger.h"
-
9
-
10namespace icp {
-
11 static Methods* global;
-
12
-
13 ICP::ICP() {}
-
14
-
15 void ICP::setup() {}
-
16
-
-
17 void ICP::begin(const std::vector<Vector>& a, const std::vector<Vector>& b,
-
18 RBTransform t) {
-
19 // Initial transform guess
-
20 this->transform = t;
-
21
-
22 // Copy in point clouds
-
23 this->a = a;
-
24 this->b = b;
-
25
-
26 // Set relative to centroid
-
27 a_cm = get_centroid(a);
-
28 b_cm = get_centroid(b);
-
29 for (Vector& point: this->a) {
-
30 point -= a_cm;
-
31 }
-
32 for (Vector& point: this->b) {
-
33 point -= b_cm;
-
34 }
-
35
-
36 // Cost is infinite initially
-
37 previous_cost = std::numeric_limits<double>::infinity();
-
38 current_cost = std::numeric_limits<double>::infinity();
-
39
-
40 // Ensure arrays are the right size
-
41 const size_t n = a.size();
-
42 if (pair.size() < n) {
-
43 pair.resize(n);
-
44 dist.resize(n);
-
45 }
-
46
-
47 // Per-instance customization routine
-
48 setup();
-
49 }
+
8
+
9namespace icp {
+
10 static Methods* global;
+
11
+
12 ICP::ICP() {}
+
13
+
14 void ICP::setup() {}
+
15
+
+
16 void ICP::begin(const std::vector<Vector>& a, const std::vector<Vector>& b,
+
17 RBTransform t) {
+
18 // Initial transform guess
+
19 this->transform = t;
+
20
+
21 // Copy in point clouds
+
22 this->a = a;
+
23 this->b = b;
+
24
+
25 // Set relative to centroid
+
26 a_cm = get_centroid(a);
+
27 b_cm = get_centroid(b);
+
28 for (Vector& point: this->a) {
+
29 point -= a_cm;
+
30 }
+
31 for (Vector& point: this->b) {
+
32 point -= b_cm;
+
33 }
+
34
+
35 // Cost is infinite initially
+
36 previous_cost = std::numeric_limits<double>::infinity();
+
37 current_cost = std::numeric_limits<double>::infinity();
+
38
+
39 // Ensure arrays are the right size
+
40 const size_t n = a.size();
+
41 if (pair.size() < n) {
+
42 pair.resize(n);
+
43 dist.resize(n);
+
44 }
+
45
+
46 // Per-instance customization routine
+
47 setup();
+
48 }
-
50
-
-
51 double ICP::calculate_cost() const {
-
52 double sum_squares{};
-
53 for (double value: dist) {
-
54 sum_squares += value;
-
55 }
-
56 return std::sqrt(sum_squares / a.size());
-
57 }
+
49
+
+
50 double ICP::calculate_cost() const {
+
51 double sum_squares{};
+
52 for (double value: dist) {
+
53 sum_squares += value;
+
54 }
+
55 return std::sqrt(sum_squares / a.size());
+
56 }
-
58
-
-
59 ICP::ConvergenceReport ICP::converge(size_t burn_in,
-
60 double convergence_threshold) {
-
61 ConvergenceReport result{};
-
62
-
63 // Repeat until convergence
-
64 while (current_cost > convergence_threshold || current_cost == INFINITY
-
65 || burn_in) {
-
66 // Store previous iteration results
-
67 previous_cost = current_cost;
-
68 RBTransform previous_transform = transform;
-
69
-
70 iterate();
-
71
-
72 // If cost rose, revert to previous transformation/cost and
-
73 // exit
-
74 current_cost = calculate_cost();
-
75 if (current_cost >= previous_cost && !burn_in) {
-
76 transform = previous_transform;
-
77 current_cost = previous_cost;
-
78 break;
-
79 }
-
80
-
81 result.iteration_count++;
-
82 burn_in--;
-
83 }
-
84
-
85 result.final_cost = current_cost;
-
86
-
87 return result;
-
88 }
+
57
+
+
58 ICP::ConvergenceReport ICP::converge(size_t burn_in,
+
59 double convergence_threshold) {
+
60 ConvergenceReport result{};
+
61
+
62 // Repeat until convergence
+
63 while (current_cost > convergence_threshold || current_cost == INFINITY
+
64 || burn_in) {
+
65 // Store previous iteration results
+
66 previous_cost = current_cost;
+
67 RBTransform previous_transform = transform;
+
68
+
69 iterate();
+
70
+
71 // If cost rose, revert to previous transformation/cost and
+
72 // exit
+
73 current_cost = calculate_cost();
+
74 if (current_cost >= previous_cost && !burn_in) {
+
75 transform = previous_transform;
+
76 current_cost = previous_cost;
+
77 break;
+
78 }
+
79
+
80 result.iteration_count++;
+
81 burn_in--;
+
82 }
+
83
+
84 result.final_cost = current_cost;
+
85
+
86 return result;
+
87 }
-
89
-
-
90 const RBTransform& ICP::current_transform() const {
-
91 return transform;
-
92 }
+
88
+
+
89 const RBTransform& ICP::current_transform() const {
+
90 return transform;
+
91 }
-
93
-
94 static void ensure_methods_exists() {
-
95 if (!global) {
-
96 global = new Methods();
-
97 }
-
98 }
-
99
-
-
100 bool ICP::register_method(std::string name,
-
101 std::function<std::unique_ptr<ICP>(void)> constructor) {
-
102 ensure_methods_exists();
-
103 global->registered_method_constructors.push_back(constructor);
-
104 global->registered_method_names.push_back(name);
-
105 return true;
-
106 }
+
92
+
93 static void ensure_methods_exists() {
+
94 if (!global) {
+
95 global = new Methods();
+
96 }
+
97 }
+
98
+
+
99 bool ICP::register_method(std::string name,
+
100 std::function<std::unique_ptr<ICP>(void)> constructor) {
+
101 ensure_methods_exists();
+
102 global->registered_method_constructors.push_back(constructor);
+
103 global->registered_method_names.push_back(name);
+
104 return true;
+
105 }
-
107
-
-
108 const std::vector<std::string>& ICP::registered_methods() {
-
109 ensure_methods_exists();
-
110 return global->registered_method_names;
-
111 }
+
106
+
+
107 const std::vector<std::string>& ICP::registered_methods() {
+
108 ensure_methods_exists();
+
109 return global->registered_method_names;
+
110 }
-
112
-
-
113 std::unique_ptr<ICP> ICP::from_method(std::string name) {
-
114 ensure_methods_exists();
-
115 size_t index = std::find(global->registered_method_names.begin(),
-
116 global->registered_method_names.end(), name)
-
117 - global->registered_method_names.begin();
-
118 return global->registered_method_constructors[index]();
-
119 }
+
111
+
+
112 std::unique_ptr<ICP> ICP::from_method(std::string name) {
+
113 ensure_methods_exists();
+
114 size_t index = std::find(global->registered_method_names.begin(),
+
115 global->registered_method_names.end(), name)
+
116 - global->registered_method_names.begin();
+
117 return global->registered_method_constructors[index]();
+
118 }
-
120
-
-
121 bool ICP::is_registered_method(std::string name) {
-
122 return std::find(global->registered_method_names.begin(),
-
123 global->registered_method_names.end(), name)
-
124 != global->registered_method_names.end();
-
125 }
+
119
+
+
120 bool ICP::is_registered_method(std::string name) {
+
121 return std::find(global->registered_method_names.begin(),
+
122 global->registered_method_names.end(), name)
+
123 != global->registered_method_names.end();
+
124 }
-
126}
+
125}
icp::ICP::previous_cost
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
-
icp::ICP::setup
virtual void setup()
Definition icp.cpp:15
+
icp::ICP::setup
virtual void setup()
Definition icp.cpp:14
icp::ICP::transform
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
icp::ICP::b_cm
Vector b_cm
The centroid of the destination point cloud.
Definition icp.h:50
-
icp::ICP::ICP
ICP()
Definition icp.cpp:13
+
icp::ICP::ICP
ICP()
Definition icp.cpp:12
icp::ICP::a_cm
Vector a_cm
The centroid of the source point cloud.
Definition icp.h:47
-
icp::ICP::converge
ConvergenceReport converge(size_t burn_in, double convergence_threshold)
Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence...
Definition icp.cpp:59
+
icp::ICP::converge
ConvergenceReport converge(size_t burn_in, double convergence_threshold)
Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence...
Definition icp.cpp:58
icp::ICP::current_cost
double current_cost
The RMS (root mean square) cost of the current transformation.
Definition icp.h:63
-
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:100
+
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:99
icp::ICP::dist
std::vector< double > dist
The distance metric of each point in a.
Definition icp.h:69
icp::ICP::a
std::vector< Vector > a
The source point cloud relative to its centroid.
Definition icp.h:53
-
icp::ICP::registered_methods
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:108
+
icp::ICP::registered_methods
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:107
icp::ICP::b
std::vector< Vector > b
The destination point cloud relative to its centroid.
Definition icp.h:56
-
icp::ICP::begin
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:17
-
icp::ICP::current_transform
const RBTransform & current_transform() const
The current transform.
Definition icp.cpp:90
+
icp::ICP::begin
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:16
+
icp::ICP::current_transform
const RBTransform & current_transform() const
The current transform.
Definition icp.cpp:89
icp::ICP::iterate
virtual void iterate()=0
Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
-
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:113
-
icp::ICP::calculate_cost
double calculate_cost() const
Computes the cost of the current transformation.
Definition icp.cpp:51
+
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:112
+
icp::ICP::calculate_cost
double calculate_cost() const
Computes the cost of the current transformation.
Definition icp.cpp:50
icp::ICP::pair
std::vector< size_t > pair
The pairing of each point in a to its closest in b.
Definition icp.h:66
-
icp::ICP::is_registered_method
static bool is_registered_method(std::string name)
Whether name is a registered ICP method.
Definition icp.cpp:121
+
icp::ICP::is_registered_method
static bool is_registered_method(std::string name)
Whether name is a registered ICP method.
Definition icp.cpp:120
icp
Definition geo.cpp:9
icp::Vector
Eigen::Vector2d Vector
Definition geo.h:15
diff --git a/docs/icp_8d_source.html b/docs/icp_8d_source.html index de70a47..4936eb4 100644 --- a/docs/icp_8d_source.html +++ b/docs/icp_8d_source.html @@ -212,268 +212,265 @@
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129 /usr/local/include/sdlwrapper/util/logger.h
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386/usr/local/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h:
icp
Definition geo.cpp:9
icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16
diff --git a/docs/icp_8h_source.html b/docs/icp_8h_source.html index 12e52c8..9f92b45 100644 --- a/docs/icp_8h_source.html +++ b/docs/icp_8h_source.html @@ -168,26 +168,26 @@
134}
icp::ICP
Interface for iterative closest points; please read the Detailed Description for usage information.
Definition icp.h:41
icp::ICP::previous_cost
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
-
icp::ICP::setup
virtual void setup()
Definition icp.cpp:15
+
icp::ICP::setup
virtual void setup()
Definition icp.cpp:14
icp::ICP::transform
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
icp::ICP::b_cm
Vector b_cm
The centroid of the destination point cloud.
Definition icp.h:50
-
icp::ICP::ICP
ICP()
Definition icp.cpp:13
+
icp::ICP::ICP
ICP()
Definition icp.cpp:12
icp::ICP::a_cm
Vector a_cm
The centroid of the source point cloud.
Definition icp.h:47
-
icp::ICP::converge
ConvergenceReport converge(size_t burn_in, double convergence_threshold)
Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence...
Definition icp.cpp:59
+
icp::ICP::converge
ConvergenceReport converge(size_t burn_in, double convergence_threshold)
Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence...
Definition icp.cpp:58
icp::ICP::current_cost
double current_cost
The RMS (root mean square) cost of the current transformation.
Definition icp.h:63
-
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:100
+
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:99
icp::ICP::dist
std::vector< double > dist
The distance metric of each point in a.
Definition icp.h:69
icp::ICP::a
std::vector< Vector > a
The source point cloud relative to its centroid.
Definition icp.h:53
icp::ICP::~ICP
virtual ~ICP()=default
-
icp::ICP::registered_methods
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:108
+
icp::ICP::registered_methods
static const std::vector< std::string > & registered_methods()
Returns a current list of the names of currently registered ICP methods.
Definition icp.cpp:107
icp::ICP::b
std::vector< Vector > b
The destination point cloud relative to its centroid.
Definition icp.h:56
-
icp::ICP::begin
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:17
-
icp::ICP::current_transform
const RBTransform & current_transform() const
The current transform.
Definition icp.cpp:90
+
icp::ICP::begin
void begin(const std::vector< Vector > &a, const std::vector< Vector > &b, RBTransform t)
Begins the ICP process for point clouds a and b with an initial guess for the transform t.
Definition icp.cpp:16
+
icp::ICP::current_transform
const RBTransform & current_transform() const
The current transform.
Definition icp.cpp:89
icp::ICP::iterate
virtual void iterate()=0
Perform one iteration of ICP for the point clouds a and b provided with ICP::begin.
-
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:113
-
icp::ICP::calculate_cost
double calculate_cost() const
Computes the cost of the current transformation.
Definition icp.cpp:51
+
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:112
+
icp::ICP::calculate_cost
double calculate_cost() const
Computes the cost of the current transformation.
Definition icp.cpp:50
icp::ICP::pair
std::vector< size_t > pair
The pairing of each point in a to its closest in b.
Definition icp.h:66
-
icp::ICP::is_registered_method
static bool is_registered_method(std::string name)
Whether name is a registered ICP method.
Definition icp.cpp:121
+
icp::ICP::is_registered_method
static bool is_registered_method(std::string name)
Whether name is a registered ICP method.
Definition icp.cpp:120
icp
Definition geo.cpp:9
icp::Vector
Eigen::Vector2d Vector
Definition geo.h:15
diff --git a/docs/index.html b/docs/index.html index 817c58e..a7f97ab 100644 --- a/docs/index.html +++ b/docs/index.html @@ -90,7 +90,7 @@
+ example_sec
Contents Overview
Features
Usage
- Example

Features

@@ -103,18 +103,24 @@

Usage

-

-Unix-like (MacOS, Linux)

-

First, download and install the dependencies.

- -

There is also a dependency on simple-test if you want to run the tests (make test).

-

It is likely that you already have SDL installed. If not, follow the instructions at the link provided (which goes to the SDL website). Then, to download and install the remaining dependencies, run

+
Warning
This section applies only to Unix-like operating systems, such as MacOS and Linux.
+

First, download and install the dependencies. Only eigen3 is necessary for the library. If you only wish to build the library, install eigen3 only. The remaining dependencies are only for the visualization tool.

+ + + + + + + + + + + + + +
Dependency Library Location (at which) Header Location (under which)
eigen3 N/A /usr/local/include/eigen3/
SDL2 $(sdl2-config --cflags) $(sdl2-config --libs)
My SDL2 wrapper /usr/local/lib/libsdlwrapper.a /usr/local/include/sdlwrapper/
libcmdapp2 /usr/local/lib/libcmdapp.a /usr/local/include/
libconfig /usr/local/lib/libconfig.a /usr/local/include/
+

There is also a dependency on simple-test if you want to run the tests (make test). Please follow the installation instructions there.

+

It is likely that you already have SDL installed. If not, follow the instructions at the link provided (which goes to the SDL website). Do the same for eigen3. Then, to download and install the remaining dependencies, run

# install libcmdapp
git clone https://github.com/ethanuppal/libcmdapp2.git
cd libcmdapp2
@@ -126,17 +132,23 @@

cd config
sudo make install
cd ..
-

Now, run

git clone https://github.com/cornellev/scan-matching.git
+

Then, a simple clone should suffice.

git clone https://github.com/cornellev/scan-matching.git
cd scan-matching
-
make
-
./main -S ex_data/scan1.conf -D ex_data/scan2.conf
+

+Library

+

To use the library, read the INSTALL.md document in the repository.

+

+Visualization & Benchmarking Tool

+
make
+
./main \
+
-S ex_data/scan1/first.conf \
+
-D ex_data/scan1/second.conf \
+
--method vanilla \
+
--gui

Instructions are printed to standard output.

The program itself can be built with

make

which will create an executable named main in the working directory.

-

-Windows

-

-Example

+

You can benchmark with make bench.

diff --git a/docs/lidar__view_8cpp_source.html b/docs/lidar__view_8cpp_source.html index 1e4af85..4f1c5e5 100644 --- a/docs/lidar__view_8cpp_source.html +++ b/docs/lidar__view_8cpp_source.html @@ -167,7 +167,7 @@
LidarView::~LidarView
~LidarView() noexcept override
Definition lidar_view.cpp:24
LidarView::draw
void draw(SDL_Renderer *renderer, const SDL_Rect *frame, double dtime) override
Definition lidar_view.cpp:46
LidarView::LidarView
LidarView(std::vector< icp::Vector > source, std::vector< icp::Vector > destination, const std::string method)
Constructs a new lidar view visualizing ICP (by method method) on the given instance (source and dest...
Definition lidar_view.cpp:17
-
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:113
+
icp::ICP::from_method
static std::unique_ptr< ICP > from_method(std::string name)
Factory constructor for the ICP method name.
Definition icp.cpp:112
CIRCLE_RADIUS
#define CIRCLE_RADIUS
Definition lidar_view.cpp:15
lidar_view.h
icp
Definition geo.cpp:9
diff --git a/docs/md_book_2versions_2v1.html b/docs/md_book_2versions_2v1.html new file mode 100644 index 0000000..e29f5b8 --- /dev/null +++ b/docs/md_book_2versions_2v1.html @@ -0,0 +1,91 @@ + + + + + + + +scan matching: v1 + + + + + + + + + + + + +
+
+ + + + + + +
+
scan matching +
+
ICP algorithm library
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ +
+
+
v1
+
+
+

The algorithm runs extremely fast now. We only need it to run at 6hz with our current LiDAR.

+

+

It also matches quite well. Below is the result of running this ICP implementation on two point clouds obtained within the workspace.

+

+

However, there is still remove for improvement with regard to outlier rejection and other parts of the algorithm (for instance, adopting a point-to-line metric).

+
+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/docs/menudata.js b/docs/menudata.js index fcfca3a..72bb4a8 100644 --- a/docs/menudata.js +++ b/docs/menudata.js @@ -24,6 +24,7 @@ */ var menudata={children:[ {text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, {text:"Classes",url:"annotated.html",children:[ {text:"Class List",url:"annotated.html"}, {text:"Class Index",url:"classes.html"}, diff --git a/docs/pages.html b/docs/pages.html new file mode 100644 index 0000000..01ed0d8 --- /dev/null +++ b/docs/pages.html @@ -0,0 +1,90 @@ + + + + + + + +scan matching: Related Pages + + + + + + + + + + + + +
+
+ + + + + + +
+
scan matching +
+
ICP algorithm library
+
+
+ + + + + + + +
+ +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ +
+
Related Pages
+
+
+
Here is a list of all related documentation pages:
+ + +
 v1
+
+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/docs/point__to__line_8cpp.html b/docs/point__to__line_8cpp.html index 656c297..38c75b9 100644 --- a/docs/point__to__line_8cpp.html +++ b/docs/point__to__line_8cpp.html @@ -85,7 +85,6 @@
#include <cassert>
#include <cstdlib>
#include "icp.h"
-#include "util/logger.h"
#include <Eigen/Core>
#include <Eigen/SVD>
diff --git a/docs/point__to__line_8cpp_source.html b/docs/point__to__line_8cpp_source.html index 8b11790..204d291 100644 --- a/docs/point__to__line_8cpp_source.html +++ b/docs/point__to__line_8cpp_source.html @@ -97,81 +97,80 @@
10#include <cassert>
11#include <cstdlib>
12#include "icp.h"
-
13#include "util/logger.h"
-
14#include <Eigen/Core>
-
15#include <Eigen/SVD>
-
16
-
17namespace icp {
-
18 struct PointToLine final : public ICP {
-
19 std::vector<Vector> rotated_a;
-
20
-
21 PointToLine(): ICP() {}
-
22 ~PointToLine() override {}
-
23
-
24 void iterate() override {
-
25 const size_t n = a.size();
-
26 const size_t m = b.size();
-
27
-
28 /* Matching Step: match closest points.
-
29
-
30 A point-to-line metric is used.
-
31
-
32 Sources:
-
33 https://arxiv.org/pdf/2206.06435.pdf
-
34 https://web.archive.org/web/20220615080318/https://www.cs.technion.ac.il/~cs236329/tutorials/ICP.pdf
-
35 https://en.wikipedia.org/wiki/Iterative_closest_point
-
36 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
-
37 */
-
38 for (size_t i = 0; i < n; i++) {
-
39 dist[i] = std::numeric_limits<double>::infinity();
-
40 for (size_t j = 0; j < m; j++) {
-
41 // Point-to-plane matching
-
42 double dist_ij = std::hypot(b[i][0] - a[i][0],
-
43 b[i][1] - a[i][1]);
-
44
-
45 if (dist_ij < dist[i]) {
-
46 dist[i] = dist_ij;
-
47 pair[i] = j;
-
48 }
-
49 }
-
50 }
-
51
-
52 /* Transformation Step: determine optimal transformation.
-
53
-
54 The translation vector is determined by the displacement between
-
55 the centroids of both point clouds. The rotation matrix is
-
56 calculated via singular value decomposition.
-
57
-
58 Sources:
-
59 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
-
60 */
-
61 transform.translation = b_cm - transform.rotation * a_cm;
-
62
-
63 Matrix N{};
-
64 for (size_t i = 0; i < n; i++) {
-
65 N += a[i] * b[i].transpose();
-
66 }
-
67 auto svd = N.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
-
68 assert(svd.computeU());
-
69 const Matrix U = svd.matrixU();
-
70 const Matrix V = svd.matrixV();
-
71 transform.rotation = V * U.transpose();
-
72 }
-
73 };
-
74
-
75 static bool static_initialization = []() {
-
76 assert(ICP::register_method("point_to_line",
-
77 []() -> std::unique_ptr<ICP> {
-
78 return std::make_unique<PointToLine>();
-
79 }));
-
80 return true;
-
81 }();
-
82}
+
13#include <Eigen/Core>
+
14#include <Eigen/SVD>
+
15
+
16namespace icp {
+
17 struct PointToLine final : public ICP {
+
18 std::vector<Vector> rotated_a;
+
19
+
20 PointToLine(): ICP() {}
+
21 ~PointToLine() override {}
+
22
+
23 void iterate() override {
+
24 const size_t n = a.size();
+
25 const size_t m = b.size();
+
26
+
27 /* Matching Step: match closest points.
+
28
+
29 A point-to-line metric is used.
+
30
+
31 Sources:
+
32 https://arxiv.org/pdf/2206.06435.pdf
+
33 https://web.archive.org/web/20220615080318/https://www.cs.technion.ac.il/~cs236329/tutorials/ICP.pdf
+
34 https://en.wikipedia.org/wiki/Iterative_closest_point
+
35 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
+
36 */
+
37 for (size_t i = 0; i < n; i++) {
+
38 dist[i] = std::numeric_limits<double>::infinity();
+
39 for (size_t j = 0; j < m; j++) {
+
40 // Point-to-plane matching
+
41 double dist_ij = std::hypot(b[i][0] - a[i][0],
+
42 b[i][1] - a[i][1]);
+
43
+
44 if (dist_ij < dist[i]) {
+
45 dist[i] = dist_ij;
+
46 pair[i] = j;
+
47 }
+
48 }
+
49 }
+
50
+
51 /* Transformation Step: determine optimal transformation.
+
52
+
53 The translation vector is determined by the displacement between
+
54 the centroids of both point clouds. The rotation matrix is
+
55 calculated via singular value decomposition.
+
56
+
57 Sources:
+
58 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
+
59 */
+
60 transform.translation = b_cm - transform.rotation * a_cm;
+
61
+
62 Matrix N{};
+
63 for (size_t i = 0; i < n; i++) {
+
64 N += a[i] * b[i].transpose();
+
65 }
+
66 auto svd = N.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
+
67 assert(svd.computeU());
+
68 const Matrix U = svd.matrixU();
+
69 const Matrix V = svd.matrixV();
+
70 transform.rotation = V * U.transpose();
+
71 }
+
72 };
+
73
+
74 static bool static_initialization = []() {
+
75 assert(ICP::register_method("point_to_line",
+
76 []() -> std::unique_ptr<ICP> {
+
77 return std::make_unique<PointToLine>();
+
78 }));
+
79 return true;
+
80 }();
+
81}
icp::ICP::transform
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
icp::ICP::b_cm
Vector b_cm
The centroid of the destination point cloud.
Definition icp.h:50
-
icp::ICP::ICP
ICP()
Definition icp.cpp:13
+
icp::ICP::ICP
ICP()
Definition icp.cpp:12
icp::ICP::a_cm
Vector a_cm
The centroid of the source point cloud.
Definition icp.h:47
-
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:100
+
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:99
icp::ICP::dist
std::vector< double > dist
The distance metric of each point in a.
Definition icp.h:69
icp::ICP::a
std::vector< Vector > a
The source point cloud relative to its centroid.
Definition icp.h:53
icp::ICP::b
std::vector< Vector > b
The destination point cloud relative to its centroid.
Definition icp.h:56
diff --git a/docs/point__to__line_8d_source.html b/docs/point__to__line_8d_source.html index 6d55cfd..7fb0d9c 100644 --- a/docs/point__to__line_8d_source.html +++ b/docs/point__to__line_8d_source.html @@ -213,326 +213,323 @@
126 /usr/local/include/eigen3/Eigen/src/Core/StlIterators.h \
127 /usr/local/include/eigen3/Eigen/src/Core/GlobalFunctions.h \
128 /usr/local/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h \
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131 /usr/local/include/eigen3/Eigen/Cholesky \
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132 /usr/local/include/eigen3/Eigen/Jacobi \
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140 /usr/local/include/eigen3/Eigen/src/QR/HouseholderQR.h \
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141 /usr/local/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h \
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142 /usr/local/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h \
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143 /usr/local/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h \
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144 /usr/local/include/eigen3/Eigen/src/misc/RealSvd2x2.h \
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145 /usr/local/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h \
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146 /usr/local/include/eigen3/Eigen/src/SVD/SVDBase.h \
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147 /usr/local/include/eigen3/Eigen/src/SVD/JacobiSVD.h \
-
148 /usr/local/include/eigen3/Eigen/src/SVD/BDCSVD.h
-
149
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150src/icp/icp.h:
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151
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152src/icp/geo.h:
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153
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154/usr/local/include/eigen3/Eigen/Core:
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155
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156/usr/local/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h:
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157
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158/usr/local/include/eigen3/Eigen/src/Core/util/Macros.h:
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159
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160/usr/local/include/eigen3/Eigen/src/Core/util/ConfigureVectorization.h:
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161
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162/usr/local/include/eigen3/Eigen/src/Core/util/MKL_support.h:
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164/usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:
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166/usr/local/include/eigen3/Eigen/src/Core/util/Meta.h:
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167
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168/usr/local/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:
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170/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:
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172/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:
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174/usr/local/include/eigen3/Eigen/src/Core/util/Memory.h:
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176/usr/local/include/eigen3/Eigen/src/Core/util/IntegralConstant.h:
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178/usr/local/include/eigen3/Eigen/src/Core/util/SymbolicIndex.h:
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180/usr/local/include/eigen3/Eigen/src/Core/NumTraits.h:
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186/usr/local/include/eigen3/Eigen/src/Core/MathFunctionsImpl.h:
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190/usr/local/include/eigen3/Eigen/src/Core/arch/Default/Half.h:
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205
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423/usr/local/include/eigen3/Eigen/src/Householder/Householder.h:
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425/usr/local/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:
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427/usr/local/include/eigen3/Eigen/src/Householder/BlockHouseholder.h:
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429/usr/local/include/eigen3/Eigen/src/QR/HouseholderQR.h:
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431/usr/local/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h:
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432
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433/usr/local/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h:
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434
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435/usr/local/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h:
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436
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437/usr/local/include/eigen3/Eigen/src/misc/RealSvd2x2.h:
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439/usr/local/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h:
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441/usr/local/include/eigen3/Eigen/src/SVD/SVDBase.h:
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442
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443/usr/local/include/eigen3/Eigen/src/SVD/JacobiSVD.h:
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444
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445/usr/local/include/eigen3/Eigen/src/SVD/BDCSVD.h:
icp
Definition geo.cpp:9
icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16
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var indexSectionNames = diff --git a/docs/v1_8md.html b/docs/v1_8md.html new file mode 100644 index 0000000..f227e11 --- /dev/null +++ b/docs/v1_8md.html @@ -0,0 +1,85 @@ + + + + + + + +scan matching: book/versions/v1.md File Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
scan matching +
+
ICP algorithm library
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
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+
+
+
+
+ +
+
+
book/versions/v1.md File Reference
+
+
+
+ +
+Generated by doxygen 1.10.0 +
+ + diff --git a/docs/vanilla_8cpp.html b/docs/vanilla_8cpp.html index 53fda51..da9d4e3 100644 --- a/docs/vanilla_8cpp.html +++ b/docs/vanilla_8cpp.html @@ -85,7 +85,6 @@
#include <cassert>
#include <cstdlib>
#include "icp.h"
-#include "util/logger.h"
#include <Eigen/Core>
#include <Eigen/SVD>
diff --git a/docs/vanilla_8cpp_source.html b/docs/vanilla_8cpp_source.html index 3fa0bcd..2a07016 100644 --- a/docs/vanilla_8cpp_source.html +++ b/docs/vanilla_8cpp_source.html @@ -93,79 +93,77 @@
6#include <cassert>
7#include <cstdlib>
8#include "icp.h"
-
9#include "util/logger.h"
-
10#include <Eigen/Core>
-
11#include <Eigen/SVD>
-
12
-
13namespace icp {
-
14 struct Vanilla final : public ICP {
-
15 std::vector<Vector> rotated_a;
-
16
-
17 Vanilla(): ICP() {}
-
18 ~Vanilla() override {}
-
19
-
20 void iterate() override {
-
21 const size_t n = a.size();
-
22 const size_t m = b.size();
-
23
-
24 /* Matching Step: match closest points.
-
25
-
26 Sources:
-
27 https://arxiv.org/pdf/2206.06435.pdf
-
28 https://web.archive.org/web/20220615080318/https://www.cs.technion.ac.il/~cs236329/tutorials/ICP.pdf
-
29 https://en.wikipedia.org/wiki/Iterative_closest_point
-
30 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
-
31 -> use k-d tree
-
32 */
-
33 for (size_t i = 0; i < n; i++) {
-
34 dist[i] = std::numeric_limits<double>::infinity();
-
35 for (size_t j = 0; j < m; j++) {
-
36 // Point-to-point matching
-
37 double dist_ij = std::hypot(b[i][0] - a[i][0],
-
38 b[i][1] - a[i][1]);
-
39
-
40 if (dist_ij < dist[i]) {
-
41 dist[i] = dist_ij;
-
42 pair[i] = j;
-
43 }
-
44 }
-
45 }
-
46
-
47 /* Transformation Step: determine optimal transformation.
-
48
-
49 The translation vector is determined by the displacement between
-
50 the centroids of both point clouds. The rotation matrix is
-
51 calculated via singular value decomposition.
-
52
-
53 Sources:
-
54 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
-
55 */
-
56 transform.translation = b_cm - transform.rotation * a_cm;
-
57
-
58 Matrix N{};
-
59 for (size_t i = 0; i < n; i++) {
-
60 N += a[i] * b[i].transpose();
-
61 }
-
62 auto svd = N.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
-
63 assert(svd.computeU());
-
64 const Matrix U = svd.matrixU();
-
65 const Matrix V = svd.matrixV();
-
66 transform.rotation = V * U.transpose();
-
67 }
-
68 };
-
69
-
70 static bool static_initialization = []() {
-
71 assert(ICP::register_method("vanilla", []() -> std::unique_ptr<ICP> {
-
72 return std::make_unique<Vanilla>();
-
73 }));
-
74 return true;
-
75 }();
-
76}
+
9#include <Eigen/Core>
+
10#include <Eigen/SVD>
+
11
+
12namespace icp {
+
13 struct Vanilla final : public ICP {
+
14 std::vector<Vector> rotated_a;
+
15
+
16 Vanilla(): ICP() {}
+
17 ~Vanilla() override {}
+
18
+
19 void iterate() override {
+
20 const size_t n = a.size();
+
21 const size_t m = b.size();
+
22
+
23 /* Matching Step: match closest points.
+
24
+
25 Sources:
+
26 https://arxiv.org/pdf/2206.06435.pdf
+
27 https://web.archive.org/web/20220615080318/https://www.cs.technion.ac.il/~cs236329/tutorials/ICP.pdf
+
28 https://en.wikipedia.org/wiki/Iterative_closest_point
+
29 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
+
30 -> use k-d tree
+
31 */
+
32 for (size_t i = 0; i < n; i++) {
+
33 dist[i] = std::numeric_limits<double>::infinity();
+
34 for (size_t j = 0; j < m; j++) {
+
35 // Point-to-point matching
+
36 double dist_ij = (b[j] - a[i]).norm();
+
37
+
38 if (dist_ij < dist[i]) {
+
39 dist[i] = dist_ij;
+
40 pair[i] = j;
+
41 }
+
42 }
+
43 }
+
44
+
45 /* Transformation Step: determine optimal transformation.
+
46
+
47 The translation vector is determined by the displacement between
+
48 the centroids of both point clouds. The rotation matrix is
+
49 calculated via singular value decomposition.
+
50
+
51 Sources:
+
52 https://courses.cs.duke.edu/spring07/cps296.2/scribe_notes/lecture24.pdf
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53 */
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54 transform.translation = b_cm - transform.rotation * a_cm;
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55
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56 Matrix N{};
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57 for (size_t i = 0; i < n; i++) {
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58 N += a[i] * b[i].transpose();
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59 }
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60 auto svd = N.jacobiSvd(Eigen::ComputeFullU | Eigen::ComputeFullV);
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61 assert(svd.computeU());
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62 const Matrix U = svd.matrixU();
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63 const Matrix V = svd.matrixV();
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64 transform.rotation = V * U.transpose();
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65 }
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66 };
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67
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68 static bool static_initialization = []() {
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69 assert(ICP::register_method("vanilla", []() -> std::unique_ptr<ICP> {
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70 return std::make_unique<Vanilla>();
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71 }));
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72 return true;
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73 }();
+
74}
icp::ICP::transform
RBTransform transform
The current point cloud transformation that is being optimized.
Definition icp.h:44
icp::ICP::b_cm
Vector b_cm
The centroid of the destination point cloud.
Definition icp.h:50
-
icp::ICP::ICP
ICP()
Definition icp.cpp:13
+
icp::ICP::ICP
ICP()
Definition icp.cpp:12
icp::ICP::a_cm
Vector a_cm
The centroid of the source point cloud.
Definition icp.h:47
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icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:100
+
icp::ICP::register_method
static bool register_method(std::string name, std::function< std::unique_ptr< ICP >(void)> constructor)
Registers a new ICP method that can be created with constructor, returning false if name has already ...
Definition icp.cpp:99
icp::ICP::dist
std::vector< double > dist
The distance metric of each point in a.
Definition icp.h:69
icp::ICP::a
std::vector< Vector > a
The source point cloud relative to its centroid.
Definition icp.h:53
icp::ICP::b
std::vector< Vector > b
The destination point cloud relative to its centroid.
Definition icp.h:56
diff --git a/docs/vanilla_8d_source.html b/docs/vanilla_8d_source.html index a55c1db..6e032e6 100644 --- a/docs/vanilla_8d_source.html +++ b/docs/vanilla_8d_source.html @@ -213,326 +213,323 @@
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icp
Definition geo.cpp:9
icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16