# Map-Alignment-2D

**Repository Path**: mirrors_lepy/Map-Alignment-2D

## Basic Information

- **Project Name**: Map-Alignment-2D
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-12-08
- **Last Updated**: 2023-08-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

Map-Alignment-2D
================

This package has been developed for 2D Map Alignment With Region Decomposition.
![animate](https://github.com/saeedghsh/Map-Alignment-2D/blob/master/docs/mapali_hyp_gen.gif)

The following article presents the method:
- Saeed Gholami Shahbandi, Martin Magnusson, *2D Map Alignment With Region Decomposition*, CoRR, abs/1709.00309, 2017. [URL](https://arxiv.org/abs/1709.00309)

And [*Nonrigid Optimization of Multimodal 2D Map Alignment*](https://github.com/saeedghsh/Map-Alignment-Nonrigid-Optimization-2D) builds on this work.


Dependencies and Download
-------------------------
Download, installing dependencies, and install package

```shell
# Download
git clone https://github.com/saeedghsh/Map-Alignment-2D.git
cd Map-Alignment-2D

# Install dependencies
pip install -r requirements.txt

# Install the package [optional]
python setup.py install
```

Most dependencies are listed in ```requirements.txt```.
But there are three more, namely [opencv](http://docs.opencv.org/trunk/d7/d9f/tutorial_linux_install.html), [Polygon](https://www.j-raedler.de/projects/polygon/) and [arrangement](https://github.com/saeedghsh/arrangement/), which should be installed separately.


Usage Example
-------------
For simplicity and convenience, we assume both maps are provided as bitmap (occupancy grid maps).
For more examples, see [Halmstad Map Collection](https://github.com/saeedghsh/Halmstad-Robot-Maps).
Run this:
```shell
python demo.py --img_src 'map_sample/map_src.png' --img_dst 'map_sample/map_dst.png' -multiprocessing -visualize
```
And you should see this:
![example](https://github.com/saeedghsh/Map-Alignment-2D/blob/master/docs/maps_map_src__maps_map_dst.png)

Simplified Algorithm (without decomposition and arrangement)
------------------------------------------------------------
The following psudo-code presents the gist of the alignment algorithm proposed in the paper.

```
# modeling
1a) perform region segmentation
1b) find the oriented minimum bounding box (OMBB) for each region (e.g. rotating calipers)

# hypotehsis generation
2a) generate hypotheses (affine transformations), by matching every pairs of OMBB from the two maps
2b) reject hypothesis that are non-similarity transformation

# match score and select a winner 
3a) for each hypothesis: find the correspondence between all OMBB from one map to another
3b) calculate the match-score for each hypothesis, and select the one with highest value
```

<!-- Parameters Setting -->
<!-- ------------------ -->
<!-- - lnl_config -->
<!-- {'binary_threshold_1': 200, # with numpy - for SKIZ and distance -->
<!-- 'binary_threshold_2': [100, 255], # with cv2 - for trait detection -->
<!-- 'traits_from_file': False, # else provide yaml file name -->
<!-- 'trait_detection_source': 'binary_inverted', -->
<!-- 'edge_detection_config': [50, 150, 3], # thr1, thr2, apt_size -->
<!-- 'peak_detect_sinogram_config': [15, 15, 0.15], # [refWin, minDist, minVal] -->
<!-- 'orthogonal_orientations': True} # for dominant orientation detection -->

<!-- - arr_config -->
<!-- {'multi_processing':4, 'end_point':False, 'timing':False, -->
<!-- 'prune_dis_neighborhood': 2, -->
<!-- 'prune_dis_threshold': .075, # home:0.15 - office:0.075 -->
<!-- 'occupancy_threshold': 200} # cell below this is considered occupied -->

<!-- - hyp_config -->
<!-- {'scale_mismatch_ratio_threshold': .3, # .5, -->
<!-- 'scale_bounds': [.5, 2], #[.1, 10] -->
<!-- 'face_occupancy_threshold': .5} -->
    
<!-- - sel_config -->
<!-- {'multiprocessing': multiprocessing, -->
<!-- 'too_many_tforms': 3000, -->
<!-- 'dbscan_eps': 0.051, -->
<!-- 'dbscan_min_samples': 2} -->

Laundry List
------------
<!-- - [ ] try out 3points distance for tforms and provide it precomputed to clustering. -->
<!-- - [ ] move new methods from ```demo.py``` to ```mapali```. -->
- [ ] dump unused methods from ```mapali``` and ```plotting```.
- [ ] api documentation.
- [ ] full test suite.
- [ ] profile for speed-up.
- [ ] python3 compatible.

License
-------
Distributed with a GNU GENERAL PUBLIC LICENSE; see [LICENSE](https://github.com/saeedghsh/Map-Alignment-2D/blob/master/LICENSE).
```
Copyright (C) Saeed Gholami Shahbandi
```