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update README and BENCHMARK (#61)

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BENCHMARK.md
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@ -117,4 +117,11 @@ small_gicp : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.0
small_gicp (tbb) : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.057 +- 3.123 RPE(800)=10.364 +- 6.336
small_gicp (omp) : APE=6.096 +- 3.056 RPE(100)=1.211 +- 0.717 RPE(400)=6.057 +- 3.123 RPE(800)=10.364 +- 6.336
small_vgicp : APE=5.956 +- 2.725 RPE(100)=1.315 +- 0.762 RPE(400)=6.849 +- 3.401 RPE(800)=10.396 +- 6.972
```
```
### Comparison with Open3D
[Code](https://github.com/koide3/small_gicp/blob/pybench/src/benchmark/odometry_benchmark.py)
Processing speed comparison between small_gicp and Open3D ([youtube]((https://youtu.be/LNESzGXPr4c?feature=shared))).
[![small_comp](https://github.com/koide3/small_gicp/assets/31344317/7959edd6-f0e4-4318-b4c1-a3f8755c407f)](https://youtu.be/LNESzGXPr4c?feature=shared)

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README.md
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@ -1,12 +1,12 @@
# small_gicp (fast_gicp2)
# small_gicp
**small_gicp** is a header-only C++ library that offers efficient and parallelized algorithms for fine point cloud registration (ICP, Point-to-Plane ICP, GICP, VGICP, etc.). It is a refined and optimized version of its predecessor, [fast_gicp](https://github.com/SMRT-AIST/fast_gicp), re-written from scratch with the following features.
**small_gicp** is a header-only C++ library providing efficient and parallelized algorithms for fine point cloud registration (ICP, Point-to-Plane ICP, GICP, VGICP, etc.). It is a refined and optimized version of its predecessor, [fast_gicp](https://github.com/SMRT-AIST/fast_gicp), re-written from scratch with the following features.
- **Highly Optimized** : The implementation of the core registration algorithm is further optimized from that in fast_gicp. It enables up to **2x speed gain**.
- **All parallerized** : small_gicp offers parallel implementations of several preprocessing algorithms to make the entire registration process parallelized (Downsampling, KdTree construction, Normal/covariance estimation). As a parallelism backend, either (or both) [OpenMP](https://www.openmp.org/) and [Intel TBB](https://github.com/oneapi-src/oneTBB) can be used.
- **Minimum dependency** : Only [Eigen](https://eigen.tuxfamily.org/) (and bundled [nanoflann](https://github.com/jlblancoc/nanoflann) and [Sophus](https://github.com/strasdat/Sophus)) are required at a minimum. Optionally, it provides the [PCL](https://pointclouds.org/) registration interface so that it can be used as a drop-in replacement.
- **Customizable** : small_gicp allows feeding any custom point cloud class to the registration algorithm via traits. Furthermore, the template-based implementation enables customizing the registration process with your original correspondence estimator and registration factors.
- **Python bindings** : The isolation from PCL makes small_gicp's python bindings more portable and usable with other libraries (e.g., Open3D) without problems.
- **Highly Optimized** : The core registration algorithm implementation has been further optimized from fast_gicp, achieving up to **2x speed gain**.
- **Fully parallerized** : small_gicp offers parallel implementations of several preprocessing algorithms, making the entire registration process parallelized (e.g., Downsampling, KdTree construction, Normal/Covariance estimation). It supports [OpenMP](https://www.openmp.org/) and [Intel TBB](https://github.com/oneapi-src/oneTBB) as parallelism backends.
- **Minimum dependencies** : The library requires only [Eigen](https://eigen.tuxfamily.org/) along with the bundled [nanoflann](https://github.com/jlblancoc/nanoflann) and [Sophus](https://github.com/strasdat/Sophus). Optionally, it supports a [PCL](https://pointclouds.org/) registration interface for use as a drop-in replacement
- **Customizable** : small_gicp allows the integration of any custom point cloud class into the registration algorithm via traits. Its template-based implementation enables customization of the registration process with original correspondence estimators and registration factors.
- **Python bindings** : By being isolated from PCL, small_gicp's Python bindings are more portable and can be used seamlessly with other libraries such as Open3D.
Note that GPU-based implementations are NOT included in this package.
@ -17,7 +17,7 @@ If you find this package useful for your project, please consider leaving a comm
## Requirements
This library uses some C++17 features. The PCL interface is not compatible with PCL older than 1.11 that uses `boost::shared_ptr`.
This library uses C++17 features. The PCL interface is not compatible with PCL older than 1.11 that uses `boost::shared_ptr`.
## Dependencies
@ -43,7 +43,7 @@ sudo make install
### Python (Linux / Windows / MacOS)
#### Install from PyPI
#### Install from [PyPI](https://pypi.org/project/small-gicp/)
```bash
pip install small_gicp --user
@ -413,25 +413,24 @@ Processing speed comparison between small_gicp and Open3D ([youtube]((https://yo
- Single-threaded `small_gicp::voxelgrid_sampling` is about **1.3x faster** than `pcl::VoxelGrid`.
- Multi-threaded `small_gicp::voxelgrid_sampling_tbb` (6 threads) is about **3.2x faster** than `pcl::VoxelGrid`.
- `small_gicp::voxelgrid_sampling` gives accurate downsampling results (almost identical to those of `pcl::VoxelGrid`) while `pcl::ApproximateVoxelGrid` yields spurious points (up to 2x points).
- `small_gicp::voxelgrid_sampling` can process a larger point cloud with a fine voxel resolution compared to `pcl::VoxelGrid` (for a point cloud of 1000m width, the minimum voxel resolution can be **0.5 mm**).
- `small_gicp::voxelgrid_sampling` provides accurate downsampling results that are nearly identical to those of `pcl::VoxelGrid`, while `pcl::ApproximateVoxelGrid` can produce spurious points (up to 2x more points).
- `small_gicp::voxelgrid_sampling` can handle larger point clouds with finer voxel resolutions compared to `pcl::VoxelGrid`. For a point cloud with a width of 1000m, the minimum voxel resolution can be **0.5 mm**.
![downsampling_comp](docs/assets/downsampling_comp.png)
### KdTree construction
- Multi-threaded implementation (TBB and OMP) can be up to **6x faster** than the single-threaded one. The single-thread version shows almost equivalent performance with nanoflann.
- ~~The processing speed gets faster as the number of threads increases, but the speed gain is not monotonic sometimes (because of the scheduling algorithm or some CPU(AMD 5995WX)-specific issues?)~~.
- The new KdTree implementation shows a good scalability thanks to its well balanced task assignment.
- This benchmark only compares the construction time (query time is not included).
- Multi-threaded implementation (TBB and OMP) can be up to **6x faster** than the single-threaded version. The single-thread version performs almost equivalently to nanoflann.
- The new KdTree implementation demonstrates good scalability due to its well-balanced task assignment.
- This benchmark compares only the construction time (query time is not included). Nearest neighbor queries are included and evaluated in the following odometry estimation evaluation.
![kdtree_time](docs/assets/kdtree_time.png)
### Odometry estimation
- Single-thread `small_gicp::GICP` is about **2.4x and 1.9x faster** than `pcl::GICP` and `fast_gicp::GICP`, respectively.
- `small_gicp::(GICP|VGICP)` shows a better multi-thread scalability compared to `fast_gicp::(GICP|VGICP)`.
- `small_gicp::GICP` parallelized with [TBB flow graph](src/benchmark/odometry_benchmark_small_gicp_tbb_flow.cpp) shows an excellent scalability to many-threads situations (**~128 threads**) but with latency degradation.
- `small_gicp::(GICP|VGICP)` demonstrates better multi-threaded scalability compared to `fast_gicp::(GICP|VGICP)`.
- `small_gicp::GICP` parallelized with [TBB flow graph](src/benchmark/odometry_benchmark_small_gicp_tbb_flow.cpp) shows excellent scalability in many-threads scenarios (**~128 threads**), though with some latency degradation.
- Outputs of `small_gicp::GICP` are almost identical to those of `fast_gicp::GICP`.
![odometry_time](docs/assets/odometry_time.png)