ankurhanda / deformationloopclosure

Deformation Loop Closure sample code to enable non-rigid alignment of point clouds

DeformationLoopClosure #Embedded Shape Deformation

Deformation Loop Closure sample code to enable non-rigid alignment of point clouds.

Dependencies

CVD TooN Eigen3 CSparse PCL

Acknowledgements

If you feel this code was useful please cite the following papers

SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla, arXiv:1505.00171

This work builds upon the ideas from

Embedded Deformation for Shape Manipulation: Robert W. Sumner, Johannes Schmid and Mark Pauly, SIGGRAPH 2007

ElasticFusion: Dense SLAM Without A Pose Graph: Thomas Whelan, Stefan Leutenegger, Renato F. Salas-Moreno, Ben Glocker, and Andrew J. Davison, RSS 2015

Various jacobians used in the code are derived in this document which might of some interest: http://mi.eng.cam.ac.uk/~ah781/NonRigidDeformableEmbedding.pdf

Primary Contact: [email protected]

deformationloopclosure's Issues

How is the connection between nodes determined?

In your code, I found that the nodes are evenly sampled by the PCL library，but I didn't figure out how the connection between the nodes was determined.

Failed to load script file "../data/variables.cfg".

Hi Ankur,

 Thanks a lot for the code! It compiles well with GPU, but when execute 
$./deformable_lc
It has the following problem. Any ideas? thanks a lot! 

! GUI_impl::Loadfile: Failed to load script file "../data/variables.cfg".