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Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

CMake 2.10% C++ 97.90%

robust_point_cloud_registration's Introduction

Iterative Probabilistic Data Association (IPDA)

Robust Point Cloud Registration Using One-To-Many Iterative Probabilistic Data Associations ("Robust ICP"). Contains wrappers for ICP, GICP, NDT as well as the source code for IPDA.

Authors

Simone Fontana ([email protected])
Timo Hinzmann ([email protected])
Gabriel Agamennoni ([email protected])

Maintainers

Timo Hinzmann ([email protected])

Getting started

Citing

The Iterative Probabilistic Data Association algorithm was introduced by the following paper:

G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti "Point Clouds Registration with Probabilistic Data Association", in International Conference on Intelligent Robots and Systems (IROS), 2016.

@INPROCEEDINGS{agamennoniIROS16,
   Author = {G. Agamennoni, S. Fontana, R. Y. Siegwart and D. G. Sorrenti},
   Title = {Point Clouds Registration with Probabilistic Data Association},
   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},
   Year = {2016}
}

The algorithm was successfully employed in the following publication:

T. Hinzmann, T. Stastny, G. Conte, P. Doherty, P. Rudol, M. Wzorek, E. Galceran, R. Siegwart, I. Gilitschenski "Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments", in The 15th International Symposium on Experimental Robotics (ISER), 2016.

@inproceedings{iser_2016_hinzmann,
  author    = {Timo Hinzmann and Thomas Stastny and Gianpaolo Conte and Patrick Doherty and Piotr Rudol and Marius Wzorek and Enric Galceran and Roland Siegwart and Igor Gilitschenski},
  title     = {Collaborative 3D Reconstruction using Heterogeneous UAVs: System and Experiments},
  booktitle = {Experimental Robotics - The 15th International Symposium on Experimental
               Robotics, {ISER} 2016, October 3-6, 2016, Tokyo, Japan},
  year      = {2016},
}

robust_point_cloud_registration's People

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githubdu caomw braigns dengchengcheng wangcongrobot zhangaigh dennisbian ivykuangyawei qicny liuxinren saparkison vbillys 01001hr halismai baicai1990 anyong298 sunbirddy ziqichai cyan-at shibowing millerhooks dehuakang maolb gogojjh fangzheng81 zc-tx conanhung 3d-scan daijicheng michaelchi08 xlicz bxk-sonavex robotics-seminar ai3dvision allchen lunwk hel4859 tmactmac1992 ogsdave liu-lxq 3dmesh collector-m ziliaogithub eglrp wangfeiren xiaohedu zbqq juhui0419 yammay jessieqiqi idontlikelongname shitou7630 whu-lyh sublucky zhearing spgriffin shlpu erensu zhuzhumao2011 bigrookie24 chunyu-lin-bjtu qixuxiang ewenwan 2amour dongyanchaotj zhezhou1993 fiefdx himichaelguo robotvisionhang merlinwu haocou fdp0525 hunkyu pclc7z2 yuepanedward nnu-gisa belial2010 lhzlhz calm-wy iynaur sc-stallone kamirow thanhnguyencs you2996 csyh wwfzs1990 pk121150 micalson simonsroad llplane richardkelley zoumaguanxin 958207985 sombitd alongqiyue will1991 jicheng45 yangzhengshi liutao0913 waywrong

robust_point_cloud_registration's Issues

pcl_catkin errors

ICPR_ws/logs/point_cloud_registration/build.cmake.000.log
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
CMake Error at /home/wuxin/ZJQ/point_registration/ICPR_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findpcl_catkin.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"pcl_catkin", but CMake did not find one.

Could not find a package configuration file provided by "pcl_catkin" with
any of the following names:

pcl_catkinConfig.cmake
pcl_catkin-config.cmake

Add the installation prefix of "pcl_catkin" to CMAKE_PREFIX_PATH or set
"pcl_catkin_DIR" to a directory containing one of the above files. If
"pcl_catkin" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
CMakeLists.txt:8 (catkin_simple)

On rigid motion representation

Hi,

I simply went through the codes. it's using quaternion and translation to model a rigid transform, and optimize 7 parameters during the icp process.

I think directly updating 4 parameters of quaternion over the optimization process is not correct, although it will still give you a better result in the end (naturally becasue of gradient decedent). In Ceres-Solver, there's a local parameterization for this case (https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/local_parameterization.h).

Or better way will be using SE(3) to represent the rigid motion and optimizing in se(3) space.

Hope it could help.

pcl_catkin missing

hi, I tried to install the project following the installation instructions. and it need pcl_catkin to build. where to get the right version of pcl_catkin? thanks

Installation with/without ROS

Installation script that allows to choose between "installation with/without ROS".

build error: can not download eigen 3.3.4

Hi all:
Following wiki installation, the result is:

jxl@dell:~/robust_ss/src$ catkin build point_cloud_registration  -j4
--------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/kinetic
Workspace:                   /home/jxl/robust_ss
--------------------------------------------------------
Build Space:        [exists] /home/jxl/robust_ss/build
Devel Space:        [exists] /home/jxl/robust_ss/devel
Install Space:      [unused] /home/jxl/robust_ss/install
Log Space:          [exists] /home/jxl/robust_ss/logs
Source Space:       [exists] /home/jxl/robust_ss/src
DESTDIR:            [unused] None
--------------------------------------------------------
Devel Space Layout:          merged
Install Space Layout:        None
--------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        -j4
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------
[build] Found '7' packages in 0.0 seconds.                                                                                                                                              
[build] Package table is up to date.                                                                                                                                                    
Starting  >>> catkin_simple                                                                                                                                                             
Finished  <<< catkin_simple                           [ 0.1 seconds ]                                                                                                                   
Starting  >>> eigen_catkin                                                                                                                                                              
Starting  >>> gflags_catkin                                                                                                                                                             
Starting  >>> pcl_catkin                                                                                                                                                                
Finished  <<< gflags_catkin                           [ 0.1 seconds ]                                                                                                                   
Starting  >>> glog_catkin                                                                                                                                                               
Finished  <<< pcl_catkin                              [ 0.1 seconds ]                                                                                                                   
Finished  <<< glog_catkin                             [ 0.1 seconds ]                                                                                                                   
Starting  >>> ceres_catkin                                                                                                                                                              
Finished  <<< ceres_catkin                            [ 0.1 seconds ]                                                                                                                   
________________________________________________________________________________________________________________________________________________________________________________________
Errors     << eigen_catkin:make /home/jxl/robust_ss/logs/eigen_catkin/build.make.006.log                                                                                                
CMake Error at eigen_src-stamp/download-eigen_src.cmake:159 (message):
  Each download failed!

    error: downloading 'http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2' failed
	 status_code: 6
	 status_string: "Couldn't resolve host name"
	 log:
	 --- LOG BEGIN ---
	 getaddrinfo(3) failed for bitbucket.org:80

  Couldn't resolve host 'bitbucket.org'

  Closing connection 0


	 --- LOG END ---

How to fix this problem, the link http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2 now is unavailable. Replace CMakeLists.txt line 88 of eigen_catkin URL http://bitbucket.org/eigen/eigen/get/3.3.4.tar.bz2 with URL https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.tar.bz2, still not work.

Thanks for your time and help!

will this code work on ROS melodic

build from source

I am trying to build these project from source. There are too many dependencies that I cannot keep track of and I don't have root privilages on this machine.
While I installed catkin_tools, I don't have a ROS distrubition which seems like it's necessary?
What's an easier way to build from source?

#include <gtest/gtest.h>

Excuse me, may I ask <gtest.h> Where is the file? I can't find it

solver local min soultion

Can your algorithm solve this local minimum problem?

build issues

rrors << gflags_catkin:make /home/hxd/catkin_ws_robust_pcl/logs/gflags_catkin/build.make.002.log
make[3]: 警告: 子 make 中强制 -jN: 关闭 jobserver 模式。
CMake Error at cmake_install.cmake:182 (file):
file INSTALL cannot copy file
"/home/hxd/catkin_ws_robust_pcl/build/gflags_catkin/gflags_src-prefix/src/gflags_src/gflags-registry-entry"
to "/home/hxd/.cmake/packages/gflags/18351cbd977e0949e767c05d9d01ecfd".

make[3]: *** [install] Error 1
make[2]: *** [gflags_src-prefix/src/gflags_src-stamp/gflags_src-install] Error 2
make[1]: *** [CMakeFiles/gflags_src.dir/all] Error 2
make: *** [all] Error 2
cd /home/hxd/catkin_ws_robust_pcl/build/gflags_catkin; catkin build --get-env gflags_catkin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

Jenkins support

[build] Given package 'point_cloud_registration' is not in the workspace

~/catkin_ws_robust_pcl/src$ catkin build point_cloud_registration

Profile: default
Extending: [explicit] /opt/ros/melodic
Workspace: /home/dhruv

Build Space: [exists] /home/dhruv/build
Devel Space: [exists] /home/dhruv/devel
Install Space: [unused] /home/dhruv/install
Log Space: [missing] /home/dhruv/logs
Source Space: [exists] /home/dhruv/src
DESTDIR: [unused] None

Devel Space Layout: merged
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '22' packages in 0.0 seconds.
[build] Given package 'point_cloud_registration' is not in the workspace