yangjiaolong/go-icp

Implementation of the Go-ICP algorithm for globally optimal 3D pointset registration

go-icp's Issues

Some question about this paper

Hi，I am a student of National Tsinghua University，I have some question about this paper that I'd like to discuss with you.Could you contact me?

Help tunning

Hello! I want to use your implementation to register a sequence of point clouds gotten from a kinect. I normalize the points to be [-1,1], the results i'm getting are good, better than other approaches but there's a point where I can't get anything better. I can show you:

1_1_points.txt
2_1_points.txt

I'm trying to register 1 to 2, those are the originals. (I'm ignoring the rgb's in the code)

And the best i've gotten is:

1_1_points_aligned1000.txt

If you compare the transformed 1, compared to the 2, it does a good job but at one points it stops to get better.

I haven't changed the configuration because when I do I get worse results.

Could you please help me giving me a hint on what could I change to help make results better with this data?

Bad alloc error

I am always getting bad alloc error while building distance transform?
Any idea why is this happening? The number of points in my pointcloud are around 250 only.

Building Distance Transform...
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
[1]    9507 abort

Problem occurs somewhere in the initiliasation of Array3d object.

void Array3d<T>::Init(int x, int y, int z)
{
  
	Xdim = x;
	Ydim = y;
	Zdim = z;
  // allocate the memory for the first level pointers.
  int n1 = z, n2 = y, n3 = x;


  data = new T** [n1];


  // set the first level pointers and allocate the memory for the second level pointers.

  {

    data[0] = new T* [n1 * n2];

    for (int row1_index = 0; row1_index < n1; row1_index++)
      data [row1_index] = data[0] + n2 * row1_index;
  }

  T* array_ptr = new T [n1*n2*n3];
  data_array = array_ptr;

  // set the second level pointers.
  for (int row1_index = 0; row1_index < n1; row1_index++)
    for (int row2_index = 0; row2_index < n2; row2_index++) {
      data [row1_index][row2_index] = array_ptr;
      array_ptr += n3;
    }
 
}

Segfault on MacOs

Building Distance Transform...0.000445s (CPU)
Model ID: demo/model_bunny.txt (35947), Data ID: demo/data_bunny.txt (30379)
Registering...
zsh: segmentation fault ./GoICP demo/model_bunny.txt demo/data_bunny.txt demo/config.txt

Regretfully, the code does not work out of the box (tried both ARM and Intel architectures). Any advice on how to correct the segfault problem would be much appreciated.

GO-ICP for 2D registration

Is it possible to configure GO-ICP for 2D registration? i.e., two translation parameters and one rotation parameter.

I believe I can effectively set the translation vector to zero by setting transWidth to 0.0 in the config.txt file. Is it possible to set the axes of the translation domain independently?

@yangjiaolong any help would be greatly appreciated.

Centering and scaling ruins the results?

Hi,

thank you for the open-source code.
I am using the python wrapper for GO-ICP from @aalavandhaann and I noticed something.

When I use his script with default parameters and no trimming to register the provided model and data bunnies, I get good results.
However, when I center and scale to unit sphere the provided bunnies (as you indicated it should be done in the instructions), and run the same script, I get a completely wrong result.

Do you have any indication why is that so? Is the algorithm very sensitive to the scale and/or location of the point clouds?

I left an issue on his Github repo as well, with the centering an scaling functions I use, if you want to take a look.

Error Init

I built the code and tried to run an example. I used the config_example.txt file from the source folder and always faced the Errors as shown below. Do you know what is it and how to fix it?

Does not compile on MacOS

Generally a non-issue, rather a comment.

/Go-ICP/jly_3ddt.cpp:13:10: fatal error: 'malloc.h' file not found
#include <malloc.h>
^~~~~~~~~~

The error appears to be standard for MacOS, no matter ARM or Intel. Removing the deprecated (since a while) malloc.h makes compilation possible.

/Go-ICP/matrix.cpp:858:9571: warning: null character ignored [-Wnull-character]

Produces ~9600 warning like this on build, unless matrix.cpp is cleaned up (some encoding problem, maybe?)

Is it possible to extend this algorithm to multi-view cases?

This question might be a little out of scope. I am seeking an approach for multi-view registration. Is it possible to extend your algorithm to a multi-view case?

Thank you for the code

Dear yangjiaolong,

Firstly, thank you for this contribution that is a real useful contribution for the geometry processing community. Secondly, I have forked your code to a different repository and converted the code base such that it works for python. I have wrapped your existing c++ classes using Cython and Autowrap to retain the efficiency and robustness. I thought it is better to inform you prior so that I shall be able to honor any obligations from my end. Kindly let me know if there is any problem with this direction and I shall take down my repository.

Once again thank you for this valuable contribution.

Regards,

#0K

Scaling of original point clouds

I am a little confused about the scaling part:

Make sure both model and data points are normalized to fit in [-1,1]3 prior to running

I have two point clouds lets call it X (3xN) and Y (3xM). There are in general floats. What is the exact scaling I need to do? Also, do I need to scale the result of go-ICP back (inverse scaling?)

X_cap := (X - mean_colwise( X ) ) / max_colwise( X ) - min_colwise( X )

winzip .exe

hello i would like to try this out and downloaded the .exe file it has a .RENAME extension i made it back into a .exe extension but it does not run

thank you

How long does this go-icp take? Is it possible to use openmp or cuda to the ndt algorithm?

How long does this go-icp take? Is it possible to use openmp or cuda to the ndt algorithm?

Replacing model with point cloud ?

Hi,

Is Go-ICP algorithm able to register 2 point clouds of a scanned 3d object taken from 2 different points of view ?

Thanks.

I can not run the exe in the zip

Hello @yangjiaolong ,
I would like to try to download the .exe file but it has a .RENAME extension and it can not run.
How should I do to run it?
thanks a lot!!!