cuda_emicp_softassign [options]

$ ./build/cuda_emicp_softassign -pointFileX=./data/P101.txt -Xsize=101 -pointFileY=./data/Qnew101.txt -Ysize=101 -emicp

$ ./build/cuda_emicp_softassign -ply -pointFileX=./data/bun000.ply -pointFileY=./data/bun045.ply -pointsReductionRate=5 -softassign

$ make -f Makefile.demo demo

-pointFileX=filename
-pointFileY=filename
[string] Filename of two 3D point sets. Requred.

-pointsReductionRate=**
    [float] Numbers of points in the files are randomlyl reduced to ** % (approximately). default: no reduction.
-pointsReductionRateX=**
    [float] Numbers of points X in the files are randomlyl reduced to ** % (approximately). default: no reduction.
-pointsReductionRateY=**
    [float] Numbers of points Y in the files are randomlyl reduced to ** % (approximately). default: no reduction.

[-icp | -emicp | -emicpcpu | -softassign]

-JMAX=***
    [int] Number of iterations for the annealing loop (1st loop). At first, the annealing temprature T is set to T_0, then T <- T*TFACOR at the end of each iteration. default: 100
-I0=***
    [int] Number of iterations with the same temprature (2nd loop). default: 5
-I1=***
    [int] Number of iterations for Shinkhorn’s row/column normalizations. default: 3
-alpha=***
    [float] parameter for outliers (see the original Softassign paper). default: 3.0
-T_0=***
    [float] initial temprature for the annealing process. default: 100.0
-TFACTOR=***
    [float] factor for reducing temprature. default: 0.95
-moutlier=***
    [float] values of elements in the extra row/column for outliers (see the original Softassign paper). default: 1/sqrtf(T_0)*expf(-1.0f)

-maxIteration=***
    [int] Number of ICP iterations. default: 30

-sigma_p2=***
    [float] initial value for the main loop. sigma_p2 <- sigma_p2 * sigma_factor  at the end of each iteration while sigma_p2 > sigam_inf. default: 0.01
-sigma_inf=***
    [float] minimum value of sigma_p2. default: 0.00001
-sigma_factor=***
    [float] facfor for reducing sigma_p2. default: 0.9
-d_02=***
    [float] values for outlier (see EM-ICP paper). default: 0.01

-noviewer
    No viewer is shown. Just align point sets, and quit.
-notimer
    No timer is shown.
-nostop
    No interatction by the viewer is required.

-saveRTtoFile=filename
    save the estimated rotation matrix and translation vector. default: nothing saved.
-loadRTfromFile=filename
    load initial values for rotation matrix R and translation vector t. default: no values are loaded, and set R=3x3 identity matrix, t=zero vector.

r11 r12 r13
r21 r22 r23
r31 r32 r33
tx ty tz

-alignScaleOnce
     two point clouds are aligned in scales at the beginning.

sudo apt-get install libpcl-1.7-all-dev libflann-dev libboost-all-dev ccache libatlas-dev libblas-dev liblapack-dev cmake

mkdir build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_VERBOSE_MAKEFILE=1 ..

void        icp(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_targetX,
		const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sourceY,float* h_R, float* h_t, registrationParameters param)
void softassign(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_targetX,
		const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sourceY, float* h_R, float* h_t, registrationParameters param)
void      emicp(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_targetX,
		const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sourceY,float* h_R, float* h_t, registrationParameters param)
void   emicpcpu(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_targetX,
		const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sourceY,float* h_R, float* h_t, registrationParameters param)

cloud_targetX, cloud_sourceY [Input]

float* h_R, float* h_t [Input/Output]

h_R[0], ..., h_R[8]: r11 r12 r13 r21 r22 r23 r31 r32 r33
h_t[0], ..., h_t[2] : tx,ty,tz

registrationParameters param [Input]

#define NOVIEWER

/*
  Copyright (c) 2010 Toru Tamaki

  Permission is hereby granted, free of charge, to any person
  obtaining a copy of this software and associated documentation
  files (the "Software"), to deal in the Software without
  restriction, including without limitation the rights to use,
  copy, modify, merge, publish, distribute, sublicense, and/or sell
  copies of the Software, and to permit persons to whom the
  Software is furnished to do so, subject to the following
  conditions:

  The above copyright notice and this permission notice shall be
  included in all copies or substantial portions of the Software.

  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
  EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
  OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
  NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
  HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
  WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
  OTHER DEALINGS IN THE SOFTWARE.
*/