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#Python Bindings of TEASER++ This short document will show you how to use TEASER++'s Python bindings to solver 3D registration problems.

Introduction

The TEASER++ Python binding teaserpp-python uses pybind11 to allow for minimal-effort interoperability between C++ and Python. To use TEASER++ in Python, the following C++ constructs are exposed:

  • teaser::RobustRegistrationSolver: the main solver class for solving registration problems with TEASER++
  • teaser::RobustRegistrationSolver::Params: a struct for holding the initialization parameters for TEASER++
  • teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM: an enum for specifying what kind rotation estimation algorithm to use
  • teaser::RegistrationSolution: a struct holding the solution to a registration problem

Please refer to the C++ source code for more detailed documentations.

Installation

You can use pip to install teaserpp-python, the module that contains all TEASER++ bindings. First, make sure you have compiled teaserpp-python. If not, you can use the following commands:

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DTEASERPP_PYTHON_VERSION=3.6 ..
make teaserpp_python -j4

You can replace 3.6 with the desired Python version you want to use TEASER++ with.

Then, in the build folder, there should be a folder named python. You can use the following commands to install the binding with pip:

cd python
pip install .

If you are using virtual environments or Anaconda, make sure to activate your environment before compiling and during pip install. Make sure the targeted Python interpreter is the one in your desired environment, or otherwise there might be segmentation faults.

An Example

import numpy as np
import teaserpp_python

# Generate random data points
src = np.random.rand(3, 20)

# Apply arbitrary scale, translation and rotation
scale = 1.5
translation = np.array([[1], [0], [-1]])
rotation = np.array([[0.98370992, 0.17903344, -0.01618098],
                     [-0.04165862, 0.13947877, -0.98934839],
                     [-0.17486954, 0.9739059, 0.14466493]])
dst = scale * np.matmul(rotation, src) + translation

# Add two outliers
dst[:, 1] += 10
dst[:, 9] += 15

# Populate the parameters
solver_params = teaserpp_python.RobustRegistrationSolver.Params()
solver_params.cbar2 = 1
solver_params.noise_bound = 0.01
solver_params.estimate_scaling = True 
solver_params.rotation_estimation_algorithm = (
    teaserpp_python.RobustRegistrationSolver.ROTATION_ESTIMATION_ALGORITHM.GNC_TLS
)
solver_params.rotation_gnc_factor = 1.4
solver_params.rotation_max_iterations = 100
solver_params.rotation_cost_threshold = 1e-12
print("TEASER++ Parameters are:", solver_params)
teaserpp_solver = teaserpp_python.RobustRegistrationSolver(solver_params)

solver = teaserpp_python.RobustRegistrationSolver(solver_params)
solver.solve(src, dst)

solution = solver.getSolution()

# Print the solution
print("Solution is:", solution)