ignaciotb / submapsregistration

SubmapsRegistration

Tools for keypoint detection, feature computation and correspondance matching in point clouds, with the focus on bathymetric data.

Dependencies (Ubuntu 20.04)

• PCL http://pointclouds.org/
• EIGEN http://eigen.tuxfamily.org/
• Auvlib https://github.com/nilsbore/auvlib
• ymal-cpp https://github.com/jbeder/yaml-cpp

Building

Clone this repository and create a build folder under the root, then execute

cd build
cmake ..
make -j4

Running

Avalible under the bin folder:

Registration of a pointcloud against itself after a random transformation

./submap_registration ../meshes/submap_1.pcd ../config.yaml

And hit 'q' on the window to go through the registration steps:

1. Keypoints extraction
2. Correspondance matching between the keypoints features
3. Initial alingment based on the correspondances
4. GICP registration
5. Exit

Constructs submaps from a bathymetry survey with 'submap_size' pings per submap and saves them as 'pcd' files in the output folder

./submaps_construction --submap_size 200 --overlap 0.6 --mbes_cereal /path/to/file.cereal --output_folder /path/to/output/folder

Util for visualizing the output submaps within the range [first_submap,last_submap] from the previous app one by one

./visualize_submaps --input_folder /path/to/folder/with/pcd --first_submap 200 --last_submap 250

Tuning

There are some important parameters to tune, they are written in config.yaml. So that you do not need to build every time you change the parameters during tuning.