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https://github.com/mit-spark/teaser-plusplus

A fast and robust point cloud registration library
https://github.com/mit-spark/teaser-plusplus
3d-reconstruction 3d-registration optimization point-clouds robotics slam
Last synced: 12 days ago
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A fast and robust point cloud registration library
Host: GitHub
URL: https://github.com/mit-spark/teaser-plusplus
Owner: MIT-SPARK
License: mit
Created: 2020-01-21T03:43:04.000Z (almost 5 years ago)
Default Branch: master
Last Pushed: 2024-05-18T13:20:08.000Z (7 months ago)
Last Synced: 2024-12-06T23:27:07.541Z (19 days ago)
Topics: 3d-reconstruction, 3d-registration, optimization, point-clouds, robotics, slam
Language: C++
Homepage:
Size: 29.5 MB
Stars: 1,821
Watchers: 48
Forks: 346
Open Issues: 34
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project

README

        # TEASER++: fast & certifiable 3D registration 

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

[![Documentation Status](https://readthedocs.org/projects/teaser/badge/?version=latest)](https://teaser.readthedocs.io/en/latest/?badge=latest)

[](https://github.com/MIT-SPARK/TEASER-plusplus/actions)

![TEASER++ 3DSmooth](examples/teaser_python_3dsmooth/3dsmooth_example.gif)

TEASER++ is a fast and certifiably-robust point cloud registration library written in C++, with Python and MATLAB bindings.

## About

![](doc/banner.png)

*Left: correspondences generated by [3DSmoothNet](https://github.com/zgojcic/3DSmoothNet) (green and red lines represent the inlier and outlier correspondences according to the ground truth respectively). Right: alignment estimated by TEASER++ (green dots represent inliers found by TEASER++).*

TEASER++ can solve the rigid body transformation problem between two point clouds in 3D. It performs well even if the input correspondences have an extremely large number of outliers. For a short conceptual introduction, check out our [video](https://www.youtube.com/watch?v=xib1RSUoeeQ). For more information, please refer to our papers:

- [H. Yang](http://hankyang.mit.edu/), [J. Shi](http://jingnanshi.com/), and [L. Carlone](http://lucacarlone.mit.edu/), "TEASER: Fast and Certifiable Point Cloud Registration,". [arXiv:2001.07715](https://arxiv.org/abs/2001.07715) [cs, math], Jan. 2020. ([pdf](https://arxiv.org/pdf/2001.07715.pdf))

- [H. Yang](http://hankyang.mit.edu/) and [L. Carlone](http://lucacarlone.mit.edu/), “A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates,” in Robotics: Science and Systems (RSS), 2019. ([pdf](https://arxiv.org/pdf/1903.08588.pdf))

If you find this library helpful or use it in your projects, please cite:

```bibtex

@article{Yang20tro-teaser,

  title={{TEASER: Fast and Certifiable Point Cloud Registration}},

  author={H. Yang and J. Shi and L. Carlone},

  journal={{IEEE} Trans. Robotics},

  pdf={https://arxiv.org/pdf/2001.07715.pdf},

  Year = {2020} 

}

```

If you are interested in more works from us, please visit our lab page [here](http://web.mit.edu/sparklab/).

## TL;DR

### Minimal C++ example

Run the following script to show a minimal C++ example:

```shell script

sudo apt install cmake libeigen3-dev libboost-all-dev

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git

cd TEASER-plusplus && mkdir build && cd build

cmake .. && make

sudo make install

sudo ldconfig

cd .. && cd examples/teaser_cpp_ply && mkdir build && cd build

cmake .. && make

./teaser_cpp_ply

```

You should see terminal output like this:

```shell script

	Read 1889 total vertices 

*** [pmc heuristic: thread 1]   current max clique = 577,  time = 0.00163579 sec

...

*** [pmc: thread 2]   current max clique = 602,  time = 0.44515 sec

-----------------------------------------------------------------------

=====================================

          TEASER++ Results           

=====================================

Expected rotation: 

  0.996927  0.0668736 -0.0406664

 -0.066129   0.997618  0.0194009

 0.0418676 -0.0166518   0.998978

Estimated rotation: 

  0.996658  0.0729647  0.0367288

-0.0740469   0.996832  0.0290182

-0.0344951 -0.0316408   0.998904

Error (deg): 0.0783556

Expected translation: 

 -0.115577

-0.0387705

  0.114875

Estimated translation: 

 -0.116132

-0.0390858

   0.11729

Error (m): 0.00249818

Number of correspondences: 1889

Number of outliers: 1700

Time taken (s): 0.786677

```

### Minimal C++ example for MacOS with brew:

Run the following script to show a minimal C++ example:

```shell script

brew install cmake

brew install boost

brew install eigen

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git

cd TEASER-plusplus && mkdir build && cd build

cmake .. && make

sudo make install

cd .. && cd examples/teaser_cpp_ply && mkdir build && cd build

cmake .. && make

./teaser_cpp_ply

```

### Minimal Python 3 example

Run the following script to show a minimal Python 3 example (needs Anaconda installed):

```shell script

sudo apt install cmake libeigen3-dev libboost-all-dev

conda create -n teaser_test python=3.6 numpy

conda activate teaser_test

conda install -c open3d-admin open3d=0.9.0.0

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git

cd TEASER-plusplus && mkdir build && cd build

cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python

cd python && pip install .

cd ../.. && cd examples/teaser_python_ply 

python teaser_python_ply.py

```

You should see output similar to this:

```shell script

==================================================

        TEASER++ Python registration example      

==================================================

*** [pmc heuristic: thread 1]   current max clique = 563,  time = 0.00185895 sec

...

*** [pmc: thread 2]   current max clique = 605,  time = 0.618481 sec

-----------------------------------------------------------------------

=====================================

          TEASER++ Results           

=====================================

Expected rotation: 

[[ 0.99692656  0.06687358 -0.04066644]

 [-0.06612899  0.99761788  0.01940087]

 [ 0.04186755 -0.01665178  0.99897777]]

Estimated rotation: 

[[ 9.96883589e-01  7.88648224e-02 -1.85738207e-03]

 [-7.88858464e-02  9.96487579e-01 -2.80985536e-02]

 [-3.65129272e-04  2.81575081e-02  9.99603432e-01]]

Error (deg): 

0.06284342361637997

Expected translation: 

[-0.11557694 -0.03877054  0.11487489]

Estimated translation: 

[-0.11652176 -0.0373522   0.111885  ]

Error (m): 

0.0034414811018018978

Number of correspondences:  1889

Number of outliers:  1700

Time taken (s):  0.9492652416229248

```

### Reproduce the GIF Above 

Run the following script:

```shell script

sudo apt install cmake libeigen3-dev libboost-all-dev

conda create -n teaser_3dsmooth python=3.6 numpy

conda activate teaser_3dsmooth

conda install -c open3d-admin open3d=0.9.0.0

conda install scikit-learn 

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git

cd TEASER-plusplus && mkdir build && cd build

cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python

cd python && pip install .

cd ../.. && cd examples/teaser_python_3dsmooth

python teaser_python_3dsmooth.py

```

You should be able to see Open3D windows showing registration results:

![TEASER++ 3DSmooth](examples/teaser_python_3dsmooth/3dsmooth_example.gif)

## Getting Started

- Installation

  - [Dependencies](https://teaser.readthedocs.io/en/latest/installation.html#installing-dependencies)

  - [Compilation](https://teaser.readthedocs.io/en/latest/installation.html#compilation-and-installation)

  - [Install C++ Libraries](https://teaser.readthedocs.io/en/latest/installation.html#installing-c-libraries-and-headers)

  - [Install Python Bindings](https://teaser.readthedocs.io/en/latest/installation.html#installing-python-bindings)

  - [Install MATLAB Bindings](https://teaser.readthedocs.io/en/latest/installation.html#installing-matlab-bindings)

  - [Run Tests](https://teaser.readthedocs.io/en/latest/installation.html#run-tests)

- Usage

  - [In C++](https://teaser.readthedocs.io/en/latest/quickstart.html#usage-in-c-projects)

  - [In Python](https://teaser.readthedocs.io/en/latest/quickstart.html#usage-in-python-projects)

  - [In MATLAB](https://teaser.readthedocs.io/en/latest/quickstart.html#usage-in-matlab-projects)

  - [In ROS](https://teaser.readthedocs.io/en/latest/quickstart.html#usage-in-ros-projects)

- API Documentation

  - [C++](https://teaser.readthedocs.io/en/latest/api-cpp.html)

  - [Python](https://teaser.readthedocs.io/en/latest/api-python.html)

  - [MATLAB](https://teaser.readthedocs.io/en/latest/api-matlab.html)

## Other Publications

Other publications related to TEASER include:

- [H. Yang](http://hankyang.mit.edu/) and [L. Carlone](http://lucacarlone.mit.edu/), “A quaternion-based certifiably optimal solution to the Wahba problem with outliers,” in Proceedings of the IEEE International Conference on Computer Vision (ICCV), 2019, pp. 1665–1674. ([pdf](https://arxiv.org/pdf/1905.12536.pdf))

- [H. Yang](http://hankyang.mit.edu/), [P. Antonante](http://www.mit.edu/~antonap/), [V. Tzoumas](https://vasileiostzoumas.com/), and [L. Carlone](http://lucacarlone.mit.edu/), “Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection,” IEEE Robotics and Automation Letters (RA-L), 2020. ([pdf](https://arxiv.org/pdf/1909.08605))

## Acknowledgements

This work was partially funded by ARL DCIST CRA W911NF-17-2-0181, ONR RAIDER N00014-18-1-2828, Lincoln Laboratory “Resilient Perception in Degraded Environments”, and the Google Daydream Research Program.