johannes-adr / icp_2d

Efficient Rust ICP (Iterative Closest Point) implementation for 2d Point Clouds (using SVD and KDTree)

icp_2d: Rust ICP Library by Johannes A.

Introduction

This library provides a Rust implementation of the Iterative Closest Point (ICP) algorithm, commonly used in computer vision and robotics for aligning 2D shapes. It's built for high performance and flexibility, leveraging Rust's strong typing and efficient memory management. Example use case: Measuring distance and rotation between two lidar-scans.

Features

• Efficient Point Matching: Utilizes KD-Trees for efficient nearest neighbor search.
• Customizable Point Types: Supports custom point structures, extending the ICPPoint trait.
• Convergence Control: Parameters to control convergence based on translation and rotation thresholds.
• Singular Value Decomposition: For accurate alignment using the SVD method.

Installation

Add this to your Cargo.toml:

[dependencies]
icp_2d = {git = "https://github.com/johannes-adr/icp_2d.git"}

Usage

To use the ICP algorithm in your project:

1. Implement the ICPPoint trait for your point type.
2. Create instances of Icp with reference and other point sets.
3. Use the do_icp method to align point sets.
4. Check if the convergence value is "good enough"

Example

^lib.rs/tests

Here's a basic example of how to use the library:

use icp_2d::{Icp, ICPPoint};
use nalgebra as na;

// `ICPPoint` is for `na::Point2<f32>` implemented

fn main() {
    // Define two sets of points (scan1 and scan2)
    let scan1 = vec![
        na::Point2::new(1.0, 2.0),
        na::Point2::new(3.0, 4.0),
        // ... more points
    ];

    let scan2 = vec![
        na::Point2::new(5.0, 6.0),
        na::Point2::new(7.0, 8.0),
        // ... more points
    ];

    // Create an Icp instance with default parameters
    let mut icp = Icp::new_default(&scan1, scan2);

    // Perform the ICP alignment
    let (ICPResult { x_offset, y_offset, rotation_offset_rad, convergence }, aligned_scan) = icp.do_icp(0.0, 0.0, 0.0);

    println!("Alignment Results:");
    println!("X Offset: {}", x_offset);
    println!("Y Offset: {}", y_offset);
    println!("Rotation Offset (rad): {}", rotation_offset_rad);
    println!("Convergence: {}%", convergence * 100.0);
}

Tip

If your application involves a custom point type solely within the reference points collection (and not in the other points), implementing the ICPPoint interface can be more streamlined. In such cases, it's not necessary to implement the translate and rotate methods, as the reference point cloud remains stationary. This approach simplifies the implementation process, focusing only on the essential functionalities required for stationary reference points in the ICP algorithm.

Contributing

Contributions to this library are welcome. Here are some ways you can contribute:

• Reporting bugs
• Suggesting enhancements
• Submitting pull requests

---

For more details, please refer to the documentation.