Quatro

• This branch is for being used as a third party module in other packages
• Quatro is from here, official repo and here, author's module repository
  • Quatro is for the robust and global registration of pointclouds to avoid degeneracy in urban environments

Dependencies

• PCL >= 1.8
• C++ >= 17
• Boost >= 1.54
• Eigen >= 3.2
• OpenMP >= 4.5
• Teaser++ (tested with commit ver e415c0d, May 22, 2023)

  git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
  cd TEASER-plusplus && mkdir build && cd build
  cmake .. -DENABLE_DIAGNOSTIC_PRINT=OFF
  sudo make install -j16
  sudo ldconfig

• (Optional, but recommended) tbb for parallelization and x10 faster computation in matching

  sudo apt install libtbb-dev

How to build

• Git clone and catkin build this repository

cd ~/your_workspace/src
git clone https://github.com/engcang/Quatro
cd ..
catkin build

• (Optional, but recommended) with tbb

catkin build -DQUATRO_TBB=ON

• (Optional) to enable std::cout for debugging,

catkin build -DQUATRO_DEBUG=ON

Use case

• Refer - here
• Or, refer the example as follows:
  1. Make sure that you have all dependencies and built the quatro properly with catkin build as above
  2. In the CMakeLists.txt of your wanted package, import quatro as a component of catkin

     find_package(catkin REQUIRED COMPONENTS
         ...
         quatro #Include here
         ...
     )
     include_directories(
         ...
         ${catkin_INCLUDE_DIRS} #Header files are included in catkin_INCLUDE_DIRS
         ...
     )
     add_library(some_library src/some_src.cpp)
     target_link_libraries(some_library ${catkin_LIBRARIES}) #Libraries are included in catkin_LIBRARIES

  3. Use in the source file of your wanted package as:

     #include <quatro/quatro_module.h>
     using QuatroPointType = pcl::PointXYZI; //can be changed
     
     shared_ptr<quatro<QuatroPointType>> m_quatro_handler = nullptr;
     m_quatro_handler = std::make_shared<quatro<QuatroPointType>>(fpfh_normal_radius_, 
                         fpfh_radius_, noise_bound_, rot_gnc_factor_, rot_cost_diff_thr_,
                         quatro_max_iter_, estimat_scale_, optimize_matching, 
                         distance_threshold, max_correspondences); //refer https://github.com/engcang/FAST-LIO-SAM-QN/blob/master/fast_lio_sam_qn/config/config.yaml#L28
     
     ////// use
     pcl::PointCloud<QuatroPointType> src_; //this should be not empty but the real data
     pcl::PointCloud<QuatroPointType> dst_; //this should be not empty but the real data
     bool if_valid_;
     Eigen::Matrix4d output_tf_ = m_quatro_handler->align(src_, dst_, if_valid_);
     if (if_valid_)
     {
         //do something wiht output_tf_
     }

License

• This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License

Acknowledgement

• This work was supported by the Industry Core Technology Development Project, 20005062, Development of Artificial Intelligence Robot Autonomous Navigation Technology for Agile Movement in Crowded Space, funded by the Ministry of Trade, Industry & Energy (MOTIE, Republic of Korea) and by the research project “Development of A.I. based recognition, judgement and control solution for autonomous vehicle corresponding to atypical driving environment,” which is financed from the Ministry of Science and ICT (Republic of Korea) Contract No. 2019-0-00399. The student was supported by the BK21 FOUR from the Ministry of Education (Republic of Korea).

Copyright

• All codes on this page are copyrighted by KAIST published under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 License. You must attribute the work in the manner specified by the author. You may not use the work for commercial purposes, and you may only distribute the resulting work under the same license if you alter, transform, or create the work.

Citation

• If our research has been helpful, please cite the below paper:

@article{lim2022quatro,
    title={A Single Correspondence Is Enough: Robust Global Registration to Avoid Degeneracy in Urban Environments},
    author={Lim, Hyungtae and Yeon, Suyong and Ryu, Suyong and Lee, Yonghan and Kim, Youngji and Yun, Jaeseong and Jung, Euigon and Lee, Donghwan and Myung, Hyun},
    booktitle={Proc. IEEE Int. Conf. Robot. Autom.},
    year={2022},
    pages={Accepted. To appear}
    }

@article{lim2023quatro-plusplus,
  author    = {Lim, Hyungtae and Kim, Beomsoo and Kim, Daebeom and Lee, Eungchang and Myung, Hyun},
  title     = {Quatro++: Robust Global Registration Exploiting Ground Segmentation for Loop Closing in LiDAR SLAM},
  booktitle = {International Journal of Robotics Research},
  year      = {2023},
}