Coherent Point Drift

This software is a simple implementation of the point-set registration algorithm known as Coherent Point Drift
(CPD) invented by Andriy Myronenko and Xubo Song (2010). All of the source codes were written by
ohirose in C language except for functions for solving linear equations, singular value decomposition,
and eigendecomposition. Algorithm details are available in their article "Point Set Registration:
Coherent Point Drift, IEEE TPAMI, 32(12), 2262--2275, 2010.

INSTALL

Linux: Launch terminal, move to the source file directory, and type make.
Mac: Install Xcodes and command-line tools. After this, do the same procedure as that for Linux.
Windows:

1. Install MinGW (+MSYS).
2. Download here the following pre-built libraries for Windows:

• libgcc_s_dw2-1.dll
• libquadmath-0.dll
• libgfortran-3.dll
• libblas.dll
• liblapack.lib
• liblapack.dll

3. Move the libraries to the CPD source directory.
4. Do the same procedure as that for Linux.

USAGE

./cpd <mode> <X> <Y> (+ options)

MODE:
At least one of characters r, a, and c must be included in mode. Optionally, m and q which
specify print options can be attatched.
r: rigid, a: affine, c: cpd, q: quiet, m: memorize optimization process.

INPUT:
X: point set 1, reference points.
Y: point set 2, floating points.

OPTIONs:
Options must be added after the arguments. If the parameter file is set as the argument of -p,
other parameters specified by command-line options are ignored.
-n nloop, -w omega, -l lambda, -b beta, -r rank, -z zscale, -p parameter file,
-o output file name.
If the option -v with no argument is specified, the version information is printed.

EXAMPLE:
./cpd rac X.txt Y.txt -w 0.5 -l 1.5 -b 0.9 -z 3.5 -n 2000