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DESCRIPTION
A python library with two elements:
The first is an efficient multi-resolution voxel representation for fast
proximity determination.
The second is a global and local alignment algorithms for merging
multiple 3D point clouds into one map. Initial application is 3D mapping
The algorithms are described in the following papers. Please cite
these in your work if you find this code useful.
J. Ryde and H. Hu. 3D mapping with multi-resolution occupied voxel lists. Autonomous Robots, 2009.
J. Ryde and N. Hillier. Alignment and 3D scene change detection for segmentation in autonomous earth moving. ICRA 2011.
INSTALLATION
Required packages (ubuntu/debian naming)
python-nose python-matplotlib python-scipy python-numexpr python-visual python-numpy
Optional packages
python-coverage
Make sure that the directory containing this README is on the PYTHONPATH
To run tests:
first compile with
> ./compile.sh
then execute tests with
> ./run_tests
COPYRIGHT
Copyright 2010-2011, Julian Ryde and Nicholas Hillier.
WARRANTY
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
No obligations or promises are committed to for its maintenance.
LICENSING
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
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