This package provides tools for computing the least-square rotation and translation connecting two sets of 3D points. Two different algorithms are provided for finding the rotation, one based on singular value decomposition - K.S. Arun et al., IEEE PAMI-9, 698-700 (1987), and the other based on the quaternionic representation of rotations - B.K.P. Horn, J. Opt. Soc. Am. A 4, 629-642 (1987).
Credit goes to MattClarkson for the CMake template used for this package.
Note: The package was built as an exercise and is no longer maintained.
The features of the package are:
- Methods to compute the centroid of sets of 3D points.
- Two different algorithms to compute the rotation.
- The algorithms are implemented using the strategy pattern, so you can add more and choose the one you like at runtime.
- Unit tests with Catch (run
make testto run the tests) - Use CMake to build the package (also possible to use SuperBuild option to download dependencies).
- Doxygen creates the documentation.
- Use Eigen and Boost libraries.
- Command-line application which reads from two files (sets of points) and returns the rotation and translation.
- Windows - Windows 10, g++ 5.3.0 (MinGW - MSYS), CMake 3.7.1, Boost 1.63.0, no SuperBuild
- Linux - Ubuntu 16.04 LTS , g++ 5.4.0 , CMake 3.5.1, Boost 1.56.0, with SuperBuild
- Mac - macOS Sierra 10.12.3 , c++ 4.2.1 , CMake 3.7.2, Boost 1.56.0, with SuperBuild
This package comes with the possibility of downloading several libraries. In particular, it is possible to download and build Eigen and Boost, which are needed for the package to work. To download and build dependencies, use CMake to configure:
- BUILD_SUPERBUILD:BOOL=ON
You can also avoid to download and build these dependencies, in case they are already present in your host machine. In that case, set:
- BUILD_SUPERBUILD:BOOL=OFF
In any case, the following options should be set as follow:
- BUILD_Eigen:BOOL=ON
- BUILD_Boost:BOOL=ON
To switch between static/dynamic linking, use CMake to set:
- BUILD_SHARED_LIBS:BOOL=ON|OFF
To switch between Debug and Release mode, use CMake to set:
- CMAKE_BUILD_TYPE:STRING=Debug|Release
Note: Only Debug and Release are supported.
If you do not set the SuperBuild flag ON, you will need to check the version of your Boost libraries. Indeed, it might be possible that your host system have a version of Boost that is different from the one assumed here (1.56.0). In that case, you will have to modify the ./CMakeLists.txt file (replace 1.56 with your version number in line 238).
Once you have configured the CMakeLists.txt file with your favourite options, you can build the package. Here an example of how you can build it in Linux (and MacOS). Write in the terminal the following commands
mkdir Build
cd ./Build/
cmake ..
If the output of cmake is positive, write make to build the package.
To test the package, use make test.
If you build the project with shared libraries (BUILD_SHARED_LIBS:BOOL=ON) then when you run executables, you should look for the batch file StartVS_Debug.bat or StartVS_Release.bat in the LEASTSQUARESPACKAGE-build folder. This sets the path before launching Visual Studio, so that dynamically loaded libraries are found at run time.
Note: The package was never built with Visual Studio, so other problems might appear.
This package comes with a handy command-line application, lsqComputeRotTrans. This application reads from two different files (with the coordinates of 3D points in it), and outputs the rotation and translation connecting the points. You can set the method you want to use, and specify the output file where the rotation and translation will be saved.