{"id":19855101,"url":"https://github.com/leggedrobotics/perfectlyconstrained","last_synced_at":"2025-09-18T14:32:03.301Z","repository":{"id":247473062,"uuid":"825943170","full_name":"leggedrobotics/perfectlyconstrained","owner":"leggedrobotics","description":"Official implementations from the paper \"Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild\"","archived":false,"fork":false,"pushed_at":"2024-12-14T05:54:14.000Z","size":6,"stargazers_count":17,"open_issues_count":0,"forks_count":0,"subscribers_count":11,"default_branch":"main","last_synced_at":"2024-12-14T06:20:14.600Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://sites.google.com/leggedrobotics.com/perfectlyconstrained","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-08T20:02:22.000Z","updated_at":"2024-12-14T05:54:18.000Z","dependencies_parsed_at":"2024-08-21T22:19:57.546Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/perfectlyconstrained","commit_stats":null,"previous_names":["leggedrobotics/degeneracy_aware_optimization"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fperfectlyconstrained","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fperfectlyconstrained/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fperfectlyconstrained/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fperfectlyconstrained/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/perfectlyconstrained/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":233489792,"owners_count":18684006,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T14:11:43.233Z","updated_at":"2025-09-18T14:31:53.274Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Degeneracy Mitigation in LiDAR SLAM\nOfficial implementations from the paper \"Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild\" [arxiv link](https://arxiv.org/abs/2408.11809).\n\nThis repository contains the implementation of all the methods compared and analyized in this work, including the degeneracy detection method of X-ICP.\n\n## Components\nThe work investigates different degeneracy mitigation methods for the problem of degenerate point cloud registration. To achieve this, this work relies on many open-sourced libraries. These libraries / packages are subject to their licenses. \n\n- This work builds on the open-source version of [Open3D SLAM](https://github.com/leggedrobotics/open3d_slam).\n- This work uses libpointmatcher point cloud registration library in the backend. The locally available (dont need to clone) libpointmatcher library is based on this [version](https://github.com/ANYbotics/libpointmatcher).\n- The locally available (dont need to clone) `pointmatcher_ros` package is based on [this version](https://github.com/ANYbotics/pointmatcher-ros).\n- For NL-Reg. and NL-Solver methods, this work depends on [Ceres](https://github.com/ceres-solver/ceres-solver). Version 2.1.0\n- For the Ineq. Con. method, this work relies on an old version of QPmad quadratic problem library [link](https://github.com/leggedrobotics/qpmad).\n- To replicate the result of the work of Petracek et al. (RMS), the authors [forked](https://github.com/leggedrobotics/RMS) the [original work](https://github.com/ctu-mrs/RMS). Please also install the dependencies of this repository.\n\n\n## Dependencies\n1. Ubuntu 20.04 (expecting PCL 1.10)\n2. ROS Noetic\n3. CMake \u003e 3.18 (tested 3.25)\n```bash\ncmake --version\n```\n**If NOT** install the cmake from https://cmake.org/download download tar.\nUnpack tar and\n``` bash\ncd cmake-\u003cversion\u003e\n./configure\nmake -j\u003cnum_of_processes\u003e\nsudo make install\n```\n4. Open3D, automatically installed by `open3d_catkin` package (this take 6-7gb of space).\n5. libnabo (dependency of libpointmatcher) [link](http://github.com/anybotics/libnabo)\n6. install dependencies for `open3d_slam` (`sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev liblua5.2-dev`)\n7. message_logger [repository link](https://github.com/ANYbotics/message_logger)\n8. QPmad [fork](https://github.com/leggedrobotics/qpmad). + `catkin build qpmad`\n9. Ceres (tested with 2.1.0). [Ceres](https://github.com/ceres-solver/ceres-solver)\n10. RMS [fork](https://github.com/leggedrobotics/RMS) and its dependencies.\n\n## Build\nTo build this repository, you need to:\n\nClone the repository to:\n``` bash\ncd catkin_ws/src\ngit clone git@github.com:leggedrobotics/open3d_slam_private.git.\ncd ..\ncatkin init\ncatkin config -DCMAKE_BUILD_TYPE=Release\ncatkin build open3d_slam_ros\n```\nStep by step building could have debugging installation process. \n\n1. `catkin build libpointmatcher`\n2. `catkin build pointmatcher_ros`\n3. `catkin build open3d_slam`\n4. `catkin build open3d_slam_ros`\n\n## Running / Result replicating\nHere, we describe the process for 1 dataset but this process apply to all datasets.\n\n1. Get the `.bag` file for the [ANYmal forest experiment](https://drive.google.com/drive/folders/1Y8w1Twdv2db-PMsx9uKMwGQ48yDisjx6)\n``` bash\nroslaunch open3d_slam_ros replay_forest.launch rosbag_filepath:=/path/to/your_file.bag\n```\n2. An RVIZ window pop-up and replay the rosbag as fast as possible.\n3. The results of the test will be saved to the pre-defined folder in the launch file.\n\nRunning Ulmberg Tunnel experiment \n``` bash\nroslaunch open3d_slam_ros replay_tunnel.launch rosbag_filepath:=/path/to/your_file.bag\n```\n\nRunning HEAP Excavation experiment \n``` bash\nroslaunch open3d_slam_ros replay_excavator.launch rosbag_filepath:=/path/to/your_file.bag\n```\n\nRunning ANYmal simulation experiment \n``` bash\nroslaunch open3d_slam_ros replay_sim.launch rosbag_filepath:=/path/to/your_file.bag\n```\n\n## Changing the method\n\nAll the degeneracy point cloud registration method parameters are located in (open3d_slam_rsl/ros/open3d_slam_ros/param/icp.yaml). Unfortunately, the parameters are not nicely separated however, below you can find the parameter sets that exactly correspond to the methods described in the work.\n\n\u003cdetails\u003e\n\u003csummary\u003eP2Plane\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  None:\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eEq. Con.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  OptimizedEqualityConstraints:\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eIneq. Con.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  InequalityConstraints:\n   highInformationThreshold: 300\n   enoughInformationThreshold: 300\n   insufficientInformationThreshold: 150\n   point2NormalMinimalAlignmentAngleThreshold: 80\n   point2NormalStrongAlignmentAngleThreshold: 45\n   inequalityboundmultiplier: 0.0014\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eL-Reg.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Enabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  OptimizedEqualityConstraints:\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eNL-Reg.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 1 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  OptimizedEqualityConstraints:\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eCauchy\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - RobustOutlierFilter: # Cauchy method.\n      robustFct: cauchy\n      scaleEstimator: mad\n      tuning: 1.0\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  None:\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eTSVD\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  SolutionRemapping:\n    threshold: 100\n    use2019: 0\n    useTruncatedSVD: 1 # Enables TSVD\n    skipRegistration: 0\n    #\n    # Hacky solution to use X-ICP degeneracy detection for Zhang et al., and TSVD.\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eZhang et al.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  SolutionRemapping:\n    threshold: 100\n    use2019: 0\n    useTruncatedSVD: 0 # Enables TSVD\n    skipRegistration: 0\n    #\n    # Hacky solution to use X-ICP degeneracy detection for Zhang et al., and TSVD.\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eRMS(Petracek et al.)\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Enabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  None:\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eNL-Solver\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 1 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 0\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  OptimizedEqualityConstraints:\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003eGelfand et al.\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n  - CovarianceSamplingDataPointsFilter: # Gelfand et al.\n      nbSample: 50000000 # In the filter, ratio based max number is applied\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  None:\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n\u003cdetails\u003e\n\u003csummary\u003ePrior Only\u003c/summary\u003e\n\n```\nreadingDataPointsFilters:\n# No specific filters.\n\nreferenceDataPointsFilters:\n# No specific filters.\n\nmatcher:\n  KDTreeMatcher:\n    knn: 1\n    maxDist: 0.5\n    epsilon: 0.01\n\noutlierFilters:\n  - TrimmedDistOutlierFilter:\n     ratio: 0.95\n  - SurfaceNormalOutlierFilter:\n     maxAngle: 1.57\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nregularization:\n  Disabled: # \"Enabled\" or \"Disabled.\n    regularizationWeight: 440.0\n\n# Enables the RMS filtering by Petracek et al.\nenableRMSfiltering:\n  Disabled: # \"Enabled\" or \"Disabled\n    rmsLambda: 0.0036 # Set to 0.0042 for Ouster based experiments.\n\n# This enables L-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" degeneracyAwareness method\nceresDegeneracyAnalysis:\n  CeresDegeneracyState:\n    isActive: 0 # \"Enabled -\u003e 1\" or \"Disabled -\u003e 0. This is the NL-Reg. Method. Needs to be run together with \"OptimizedEqualityConstraints:\" for correct detection.\n    usePointToPointCost: 0\n    usePointToPlaneCost: 1\n    useBoundConstraints: 1 # This is the transition from NL-Reg. to NL-Solver. 1: NL-Reg. 0: NL-Solver.\n    useSixDofRegularization: 0\n    useThreeDofRegularization: 1\n    regularizationWeight: 675.0 # The weight of NL-Reg.\n\ndegeneracyAwareness:\n  SolutionRemapping:\n    threshold: 100\n    use2019: 0\n    useTruncatedSVD: 0 # Enables TSVD\n    skipRegistration: 1\n    #\n    # Hacky solution to use X-ICP degeneracy detection for Zhang et al., and TSVD.\n    enoughInformationThreshold: 300\n    insufficientInformationThreshold: 150\n    point2NormalMinimalAlignmentAngleThreshold: 80\n    point2NormalStrongAlignmentAngleThreshold: 45\n\ntransformationCheckers:\n  - DifferentialTransformationChecker:\n      minDiffRotErr: 0.001\n      minDiffTransErr: 0.01\n      smoothLength: 3\n  - CounterTransformationChecker:\n      maxIterationCount: 30\n\ninspector:\n  NullInspector\n\nlogger:\n  NullLogger\n\nerrorMinimizer:\n  PointToPlaneErrorMinimizer\n\n# Leave it enabled, this enforces the XICP detection.\nforceXICPdetection:\n  Enabled: # \"Enabled\" or \"Disabled\n\ndegeneracyDebug:\n  Enabled: # \"Enabled\" or \"Disabled.\n\nprintingDegeneracy:\n  Enabled: # \"Enabled\" or \"Disabled.\n```\n\n\u003c/details\u003e\n\n## Acknowledgement\nWe would like to thank all the researchers who made their work open-source to the community, which allowed us to compose this work.\n\n## License\nAll the 3rd party libraries and repositories are subject to the license of their own.\n\n## Common Issues\n\n```\nCMake Error at /usr/local/share/cmake-3.25/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):\n  find_package called with invalid argument \"..\"\n  /usr/local/lib/cmake/Ceres/CeresConfig.cmake:182 (find_dependency)\n  CatkinBuild.cmake:27 (find_package)\n  CMakeLists.txt:81 (include)\n```\n\nOn certain Ceres / Cmake versions this error prevents correct build. In that case, just go to the errorous file (/usr/local/lib/cmake/Ceres/CeresConfig.cmake) and remove `..` which is out of date. `find_dependency(CXSparse .. )` -\u003e `find_dependency(CXSparse)`\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fperfectlyconstrained","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fperfectlyconstrained","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fperfectlyconstrained/lists"}