General

This PR adds the dependencies as either rosinstall or incorporated submodule. Right now it is still pulling maplab_dependencies. This however, changes in the future once it is clear which deps are required.

Changelog

• Changes the overall structure of the project to facilitate submodules as dependencies.

General

This PR generally prepares the experiments for the evaluation and comparison to the sota.

Current ToDo's:

• [x] Add ICP
• [x] Add NDT
• [x] Add CPD
• [x] Add G-ICP

Changelog

Hi, interested in using this code however it seems like there is a fair amount of configuration required. A dockerfile would be handy (e.g. it would help with open issues https://github.com/ethz-asl/phaser/issues/62 and https://github.com/ethz-asl/phaser/issues/61). Happy to PR it but can't get this working.

The catkin build phaser_ros line errors with #15 0.593 [build] Error: Unable to find source space '/phaser/src'.

Not familiar with catkin. What am I missing here?

Dockerfile I'm using:

FROM ubuntu:18.04

ENV DEBIAN_FRONTEND noninteractive

RUN apt update
RUN apt install -y doxygen autotools-dev \
    dh-autoreconf libboost-all-dev python-setuptools git g++ cppcheck \
    libgtest-dev python-git pylint \
    python-termcolor liblog4cplus-dev cimg-dev python-wstool python-pip \
    clang-format-6.0 curl \
    libpcl-dev libnlopt-dev

RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" | tee /etc/apt/sources.list.d/ros-latest.list
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
RUN apt update
RUN apt install -y ros-melodic-pcl-conversions

RUN pip install -U catkin_tools

RUN git clone https://github.com/jalexvig/phaser.git

WORKDIR phaser

RUN wstool init && wstool merge dependencies.rosinstall && wstool update

RUN catkin build phaser_ros

RUN apt install -y zsh vim
RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true

CMD [ "zsh" ]

General

This PR adds a new tool that reads an exported feature folder and performs the spherical Fourier transform. The output will be the magnitude of the signals.

General

This PR introduces scripts to create a docker container for PHASER. Basically provides more detailed information on how to build the repo (#64)

How to use it

Install docker using

sudo apt install docker.io docker

then run the script

./phaser_deploy/build_docker.sh

This creates a new ubuntu:18.04 container, installs all the dependencies, and builds PHASER.

PHASER can then be run using

docker run -it phaser.core (bash/rosrun/....) 

General

After the correlation the resulting ZYZ angles are converted to get the XYZ angles for the orientation. This is done by converting them to quaternions which can be distributed according a Bingham or vMF distribution.

Changelog

• Adds a Bingham distribution and corresponding gtests to phaser_common
• Adds a Bingham Mixture distribution
• Adds new peak-based eval methods

General

This PR is to keep track of the current issues and fix to do.

• [x] Rotational alignment
• [x] Translation alignment
• [x] Uncertainty analysis
• [x] Unit tests for the components
• [x] Full pipeline combining the uncertainty analysis with the registration

General

This PR adds a new fusion component, namely the Laplacian pyramid. Given an input spectrum, we first derive multiple low-pass pyramid levels. Consequently, the difference between the previous level and the current low-pass pyramid results in the Laplacian pyramid.

General

We apply an averaging of the voxels for the sampling. To compensate for the introduced partial voluming effect, we perform zero-padding of the signal.

General

This PR generally adds the possibility to filter out all frequencies except for the lower ones. This is based on the idea that lower frequencies contain the major amount of signal energies and are less affected by noise.

General

For easier integration in order frameworks, pcl_catkin pulls too many things into the workspace. Consequently, switching to system pcl makes the integration easier.

Changelog

• Removed the debug-visualizer since it is not supported by system pcl