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AndersonAcceleration.h

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+#ifndef ANDERSONACCELERATION_H_
+#define ANDERSONACCELERATION_H_
+
+#include "Types.h"
+#include <cassert>
+#include <algorithm>
+#include <vector>
+#include <omp.h>
+#include <fstream>
+
+class AndersonAcceleration
+{
+public:
+	AndersonAcceleration()
+		:m_(-1), dim_(-1), iter_(-1), col_idx_(-1) {}
+
+	void replace(const Scalar *u)
+	{
+		current_u_ = Eigen::Map<const VectorX>(u, dim_);
+	}
+
+	const VectorX& compute(const Scalar* g)
+	{
+		assert(iter_ >= 0);
+
+		Eigen::Map<const VectorX> G(g, dim_);
+		current_F_ = G - current_u_;
+
+		if (iter_ == 0)
+		{
+			prev_dF_.col(0) = -current_F_;
+			prev_dG_.col(0) = -G;
+			current_u_ = G;
+		}
+		else
+		{
+			prev_dF_.col(col_idx_) += current_F_;
+			prev_dG_.col(col_idx_) += G;
+
+			Scalar eps = 1e-14;
+			Scalar scale = std::max(eps, prev_dF_.col(col_idx_).norm());
+			dF_scale_(col_idx_) = scale;
+			prev_dF_.col(col_idx_) /= scale;
+
+			int m_k = std::min(m_, iter_);
+
+
+			if (m_k == 1)
+			{
+				theta_(0) = 0;
+				Scalar dF_sqrnorm = prev_dF_.col(col_idx_).squaredNorm();
+				M_(0, 0) = dF_sqrnorm;
+				Scalar dF_norm = std::sqrt(dF_sqrnorm);
+
+                if (dF_norm > eps) {
+					theta_(0) = (prev_dF_.col(col_idx_) / dF_norm).dot(current_F_ / dF_norm);
+				}
+			}
+			else
+			{
+				// Update the normal equation matrix, for the column and row corresponding to the new dF column
+				VectorX new_inner_prod = (prev_dF_.col(col_idx_).transpose() * prev_dF_.block(0, 0, dim_, m_k)).transpose();
+				M_.block(col_idx_, 0, 1, m_k) = new_inner_prod.transpose();
+				M_.block(0, col_idx_, m_k, 1) = new_inner_prod;
+
+				// Solve normal equation
+				cod_.compute(M_.block(0, 0, m_k, m_k));
+				theta_.head(m_k) = cod_.solve(prev_dF_.block(0, 0, dim_, m_k).transpose() * current_F_);
+			}
+
+			// Use rescaled theata to compute new u
+			current_u_ = G - prev_dG_.block(0, 0, dim_, m_k) * ((theta_.head(m_k).array() / dF_scale_.head(m_k).array()).matrix());
+			col_idx_ = (col_idx_ + 1) % m_;
+			prev_dF_.col(col_idx_) = -current_F_;
+			prev_dG_.col(col_idx_) = -G;
+		}
+
+		iter_++;
+		return current_u_;
+	}
+    void reset(const Scalar *u)
+    {
+        iter_ = 0;
+        col_idx_ = 0;
+        current_u_ = Eigen::Map<const VectorX>(u, dim_);
+    }
+
+	// m: number of previous iterations used
+	// d: dimension of variables
+	// u0: initial variable values
+	void init(int m, int d, const Scalar* u0)
+	{
+		assert(m > 0);
+		m_ = m;
+		dim_ = d;
+		current_u_.resize(d);
+		current_F_.resize(d);
+		prev_dG_.resize(d, m);
+		prev_dF_.resize(d, m);
+		M_.resize(m, m);
+		theta_.resize(m);
+		dF_scale_.resize(m);
+		current_u_ = Eigen::Map<const VectorX>(u0, d);
+		iter_ = 0;
+		col_idx_ = 0;
+	}
+
+private:
+	VectorX current_u_;
+	VectorX current_F_;
+	MatrixXX prev_dG_;
+	MatrixXX prev_dF_;
+	MatrixXX M_;		// Normal equations matrix for the computing theta
+	VectorX	theta_;	// theta value computed from normal equations
+	VectorX dF_scale_;		// The scaling factor for each column of prev_dF
+	Eigen::CompleteOrthogonalDecomposition<MatrixXX> cod_;
+
+	int m_;		// Number of previous iterates used for Andreson Acceleration
+	int dim_;	// Dimension of variables
+	int iter_;	// Iteration count since initialization
+	int col_idx_;	// Index for history matrix column to store the next value
+	int m_k_;
+
+	Eigen::Matrix4d current_T_;
+	Eigen::Matrix4d current_F_T_;
+
+	MatrixXX T_prev_dF_;
+	MatrixXX T_prev_dG_;
+};
+
+
+#endif /* ANDERSONACCELERATION_H_ */

FRICP.h

@@ -0,0 +1,942 @@
+#ifndef FRICP_H
+#define FRICP_H
+#include "ICP.h"
+#include <AndersonAcceleration.h>
+#include <eigen/unsupported/Eigen/MatrixFunctions>
+#include "median.h"
+#include <limits>
+#define SAME_THRESHOLD 1e-6
+#include <type_traits>
+
+template<class T>
+typename std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type
+almost_equal(T x, T y, int ulp)
+{
+    // the machine epsilon has to be scaled to the magnitude of the values used
+    // and multiplied by the desired precision in ULPs (units in the last place)
+    return std::fabs(x-y) <= std::numeric_limits<T>::epsilon() * std::fabs(x+y) * ulp
+            // unless the result is subnormal
+            || std::fabs(x-y) < std::numeric_limits<T>::min();
+}
+template<int N>
+class FRICP
+{
+public:
+    typedef double Scalar;
+    typedef Eigen::Matrix<Scalar, N, Eigen::Dynamic> MatrixNX;
+    typedef Eigen::Matrix<Scalar, N, N> MatrixNN;
+    typedef Eigen::Matrix<Scalar, N+1, N+1> AffineMatrixN;
+    typedef Eigen::Transform<Scalar, N, Eigen::Affine> AffineNd;
+    typedef Eigen::Matrix<Scalar, N, 1> VectorN;
+    typedef nanoflann::KDTreeAdaptor<MatrixNX, N, nanoflann::metric_L2_Simple> KDtree;
+    typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
+    double test_total_construct_time=.0;
+    double test_total_solve_time=.0;
+    int test_total_iters=0;
+
+    FRICP(){};
+    ~FRICP(){};
+
+private:
+    AffineMatrixN LogMatrix(const AffineMatrixN& T)
+    {
+        Eigen::RealSchur<AffineMatrixN> schur(T);
+        AffineMatrixN U = schur.matrixU();
+        AffineMatrixN R = schur.matrixT();
+        std::vector<bool> selected(N, true);
+        MatrixNN mat_B = MatrixNN::Zero(N, N);
+        MatrixNN mat_V = MatrixNN::Identity(N, N);
+
+        for (int i = 0; i < N; i++)
+        {
+            if (selected[i] && fabs(R(i, i) - 1)> SAME_THRESHOLD)
+            {
+                int pair_second = -1;
+                for (int j = i + 1; j <N; j++)
+                {
+                    if (fabs(R(j, j) - R(i, i)) < SAME_THRESHOLD)
+                    {
+                        pair_second = j;
+                        selected[j] = false;
+                        break;
+                    }
+                }
+                if (pair_second > 0)
+                {
+                    selected[i] = false;
+                    R(i, i) = R(i, i) < -1 ? -1 : R(i, i);
+                    double theta = acos(R(i, i));
+                    if (R(i, pair_second) < 0)
+                    {
+                        theta = -theta;
+                    }
+                    mat_B(i, pair_second) += theta;
+                    mat_B(pair_second, i) += -theta;
+                    mat_V(i, pair_second) += -theta / 2;
+                    mat_V(pair_second, i) += theta / 2;
+                    double coeff = 1 - (theta * R(i, pair_second)) / (2 * (1 - R(i, i)));
+                    mat_V(i, i) += -coeff;
+                    mat_V(pair_second, pair_second) += -coeff;
+                }
+            }
+        }
+
+        AffineMatrixN LogTrim = AffineMatrixN::Zero();
+        LogTrim.block(0, 0, N, N) = mat_B;
+        LogTrim.block(0, N, N, 1) = mat_V * R.block(0, N, N, 1);
+        AffineMatrixN res = U * LogTrim * U.transpose();
+        return res;
+    }
+
+    inline Vector6 RotToEuler(const AffineNd& T)
+    {
+        Vector6 res;
+        res.head(3) = T.rotation().eulerAngles(0,1,2);
+        res.tail(3) = T.translation();
+        return res;
+    }
+
+    inline AffineMatrixN EulerToRot(const Vector6& v)
+    {
+        MatrixNN s (Eigen::AngleAxis<Scalar>(v(0), Vector3::UnitX())
+                    * Eigen::AngleAxis<Scalar>(v(1), Vector3::UnitY())
+                    * Eigen::AngleAxis<Scalar>(v(2), Vector3::UnitZ()));
+
+        AffineMatrixN m = AffineMatrixN::Zero();
+        m.block(0,0,3,3) = s;
+        m(3,3) = 1;
+        m.col(3).head(3) = v.tail(3);
+        return m;
+    }
+    inline Vector6 LogToVec(const Eigen::Matrix4d& LogT)
+    {
+        Vector6 res;
+        res[0] = -LogT(1, 2);
+        res[1] = LogT(0, 2);
+        res[2] = -LogT(0, 1);
+        res[3] = LogT(0, 3);
+        res[4] = LogT(1, 3);
+        res[5] = LogT(2, 3);
+        return res;
+    }
+
+    inline AffineMatrixN VecToLog(const Vector6& v)
+    {
+        AffineMatrixN m = AffineMatrixN::Zero();
+        m << 0, -v[2], v[1], v[3],
+                v[2], 0, -v[0], v[4],
+                -v[1], v[0], 0, v[5],
+                0, 0, 0, 0;
+        return m;
+    }
+
+    double FindKnearestMed(const KDtree& kdtree,
+                           const MatrixNX& X, int nk)
+    {
+        Eigen::VectorXd X_nearest(X.cols());
+#pragma omp parallel for
+        for(int i = 0; i<X.cols(); i++)
+        {
+            int* id = new int[nk];
+            double *dist = new double[nk];
+            kdtree.query(X.col(i).data(), nk, id, dist);
+            Eigen::VectorXd k_dist = Eigen::Map<Eigen::VectorXd>(dist, nk);
+            igl::median(k_dist.tail(nk-1), X_nearest[i]);
+            delete[]id;
+            delete[]dist;
+        }
+        double med;
+        igl::median(X_nearest, med);
+        return sqrt(med);
+    }
+    /// Find self normal edge median of point cloud
+    double FindKnearestNormMed(const KDtree& kdtree, const Eigen::Matrix3Xd & X, int nk, const Eigen::Matrix3Xd & norm_x)
+    {
+        Eigen::VectorXd X_nearest(X.cols());
+#pragma omp parallel for
+        for(int i = 0; i<X.cols(); i++)
+        {
+            int* id = new int[nk];
+            double *dist = new double[nk];
+            kdtree.query(X.col(i).data(), nk, id, dist);
+            Eigen::VectorXd k_dist = Eigen::Map<Eigen::VectorXd>(dist, nk);
+            for(int s = 1; s<nk; s++)
+            {
+                k_dist[s] = std::abs((X.col(id[s]) - X.col(id[0])).dot(norm_x.col(id[0])));
+            }
+            igl::median(k_dist.tail(nk-1), X_nearest[i]);
+            delete[]id;
+            delete[]dist;
+        }
+        double med;
+        igl::median(X_nearest, med);
+        return med;
+    }
+
+    template <typename Derived1, typename Derived2, typename Derived3>
+    AffineNd point_to_point(Eigen::MatrixBase<Derived1>& X,
+                            Eigen::MatrixBase<Derived2>& Y,
+                            const Eigen::MatrixBase<Derived3>& w) {
+        int dim = X.rows();
+        /// Normalize weight vector
+        Eigen::VectorXd w_normalized = w / w.sum();
+        /// De-mean
+        Eigen::VectorXd X_mean(dim), Y_mean(dim);
+        for (int i = 0; i<dim; ++i) {
+            X_mean(i) = (X.row(i).array()*w_normalized.transpose().array()).sum();
+            Y_mean(i) = (Y.row(i).array()*w_normalized.transpose().array()).sum();
+        }
+        X.colwise() -= X_mean;
+        Y.colwise() -= Y_mean;
+
+        /// Compute transformation
+        AffineNd transformation;
+        MatrixXX sigma = X * w_normalized.asDiagonal() * Y.transpose();
+        Eigen::JacobiSVD<MatrixXX> svd(sigma, Eigen::ComputeFullU | Eigen::ComputeFullV);
+        if (svd.matrixU().determinant()*svd.matrixV().determinant() < 0.0) {
+            VectorN S = VectorN::Ones(dim); S(dim-1) = -1.0;
+            transformation.linear() = svd.matrixV()*S.asDiagonal()*svd.matrixU().transpose();
+        }
+        else {
+            transformation.linear() = svd.matrixV()*svd.matrixU().transpose();
+        }
+        transformation.translation() = Y_mean - transformation.linear()*X_mean;
+        /// Re-apply mean
+        X.colwise() += X_mean;
+        Y.colwise() += Y_mean;
+        /// Return transformation
+        return transformation;
+    }
+
+    template <typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>
+    Eigen::Affine3d point_to_plane(Eigen::MatrixBase<Derived1>& X,
+                                   Eigen::MatrixBase<Derived2>& Y,
+                                   const Eigen::MatrixBase<Derived3>& Norm,
+                                   const Eigen::MatrixBase<Derived4>& w,
+                                   const Eigen::MatrixBase<Derived5>& u) {
+        typedef Eigen::Matrix<double, 6, 6> Matrix66;
+        typedef Eigen::Matrix<double, 6, 1> Vector6;
+        typedef Eigen::Block<Matrix66, 3, 3> Block33;
+        /// Normalize weight vector
+        Eigen::VectorXd w_normalized = w / w.sum();
+        /// De-mean
+        Eigen::Vector3d X_mean;
+        for (int i = 0; i<3; ++i)
+            X_mean(i) = (X.row(i).array()*w_normalized.transpose().array()).sum();
+        X.colwise() -= X_mean;
+        Y.colwise() -= X_mean;
+        /// Prepare LHS and RHS
+        Matrix66 LHS = Matrix66::Zero();
+        Vector6 RHS = Vector6::Zero();
+        Block33 TL = LHS.topLeftCorner<3, 3>();
+        Block33 TR = LHS.topRightCorner<3, 3>();
+        Block33 BR = LHS.bottomRightCorner<3, 3>();
+        Eigen::MatrixXd C = Eigen::MatrixXd::Zero(3, X.cols());
+
+#pragma omp parallel
+        {
+#pragma omp for
+            for (int i = 0; i<X.cols(); i++) {
+                C.col(i) = X.col(i).cross(Norm.col(i));
+            }
+#pragma omp sections nowait
+            {
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) TL.selfadjointView<Eigen::Upper>().rankUpdate(C.col(i), w(i));
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) TR += (C.col(i)*Norm.col(i).transpose())*w(i);
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) BR.selfadjointView<Eigen::Upper>().rankUpdate(Norm.col(i), w(i));
+#pragma omp section
+                for (int i = 0; i<C.cols(); i++) {
+                    double dist_to_plane = -((X.col(i) - Y.col(i)).dot(Norm.col(i)) - u(i))*w(i);
+                    RHS.head<3>() += C.col(i)*dist_to_plane;
+                    RHS.tail<3>() += Norm.col(i)*dist_to_plane;
+                }
+            }
+        }
+        LHS = LHS.selfadjointView<Eigen::Upper>();
+        /// Compute transformation
+        Eigen::Affine3d transformation;
+        Eigen::LDLT<Matrix66> ldlt(LHS);
+        RHS = ldlt.solve(RHS);
+        transformation = Eigen::AngleAxisd(RHS(0), Eigen::Vector3d::UnitX()) *
+                Eigen::AngleAxisd(RHS(1), Eigen::Vector3d::UnitY()) *
+                Eigen::AngleAxisd(RHS(2), Eigen::Vector3d::UnitZ());
+        transformation.translation() = RHS.tail<3>();
+
+        /// Apply transformation
+        /// Re-apply mean
+        X.colwise() += X_mean;
+        Y.colwise() += X_mean;
+        transformation.translation() += X_mean - transformation.linear()*X_mean;
+        /// Return transformation
+        return transformation;
+    }
+
+    template <typename Derived1, typename Derived2, typename Derived3, typename Derived4>
+    double point_to_plane_gaussnewton(const Eigen::MatrixBase<Derived1>& X,
+                               const Eigen::MatrixBase<Derived2>& Y,
+                               const Eigen::MatrixBase<Derived3>& norm_y,
+                               const Eigen::MatrixBase<Derived4>& w,
+                               Matrix44 Tk,  Vector6& dir) {
+        typedef Eigen::Matrix<double, 6, 6> Matrix66;
+        typedef Eigen::Matrix<double, 12, 6> Matrix126;
+        typedef Eigen::Matrix<double, 9, 3> Matrix93;
+        typedef Eigen::Block<Matrix126, 9, 3> Block93;
+        typedef Eigen::Block<Matrix126, 3, 3> Block33;
+        typedef Eigen::Matrix<double, 12, 1> Vector12;
+        typedef Eigen::Matrix<double, 9, 1> Vector9;
+        typedef Eigen::Matrix<double, 4, 2> Matrix42;
+        /// Normalize weight vector
+        Eigen::VectorXd w_normalized = w / w.sum();
+        /// Prepare LHS and RHS
+        Matrix66 LHS = Matrix66::Zero();
+        Vector6 RHS = Vector6::Zero();
+
+        Vector6 log_T = LogToVec(LogMatrix(Tk));
+        Matrix33 B = VecToLog(log_T).block(0, 0, 3, 3);
+        double a = log_T[0];
+        double b = log_T[1];
+        double c = log_T[2];
+        Matrix33 R = Tk.block(0, 0, 3, 3);
+        Vector3 t = Tk.block(0, 3, 3, 1);
+        Vector3 u = log_T.tail(3);
+
+        Matrix93 dbdw = Matrix93::Zero();
+        dbdw(1, 2) = dbdw(5, 0) = dbdw(6, 1) = -1;
+        dbdw(2, 1) = dbdw(3, 2) = dbdw(7, 0) = 1;
+        Matrix93 db2dw = Matrix93::Zero();
+        db2dw(3, 1) = db2dw(4, 0) = db2dw(6, 2) = db2dw(8, 0) = a;
+        db2dw(0, 1) = db2dw(1, 0) = db2dw(7, 2) = db2dw(8, 1) = b;
+        db2dw(0, 2) = db2dw(2, 0) = db2dw(4, 2) = db2dw(5, 1) = c;
+        db2dw(1, 1) = db2dw(2, 2) = -2 * a;
+        db2dw(3, 0) = db2dw(5, 2) = -2 * b;
+        db2dw(6, 0) = db2dw(7, 1) = -2 * c;
+        double theta = std::sqrt(a*a + b*b + c*c);
+        double st = sin(theta), ct = cos(theta);
+
+        Matrix42 coeff = Matrix42::Zero();
+        if (theta>SAME_THRESHOLD)
+        {
+            coeff << st / theta, (1 - ct) / (theta*theta),
+                    (theta*ct - st) / (theta*theta*theta), (theta*st - 2 * (1 - ct)) / pow(theta, 4),
+                    (1 - ct) / (theta*theta), (theta - st) / pow(theta, 3),
+                    (theta*st - 2 * (1 - ct)) / pow(theta, 4), (theta*(1 - ct) - 3 * (theta - st)) / pow(theta, 5);
+        }
+        else
+            coeff(0, 0) = 1;
+
+        Matrix93 tempB3;
+        tempB3.block<3, 3>(0, 0) = a*B;
+        tempB3.block<3, 3>(3, 0) = b*B;
+        tempB3.block<3, 3>(6, 0) = c*B;
+        Matrix33 B2 = B*B;
+        Matrix93 temp2B3;
+        temp2B3.block<3, 3>(0, 0) = a*B2;
+        temp2B3.block<3, 3>(3, 0) = b*B2;
+        temp2B3.block<3, 3>(6, 0) = c*B2;
+        Matrix93 dRdw = coeff(0, 0)*dbdw + coeff(1, 0)*tempB3
+                + coeff(2, 0)*db2dw + coeff(3, 0)*temp2B3;
+        Vector9 dtdw = coeff(0, 1) * dbdw*u + coeff(1, 1) * tempB3*u
+                + coeff(2, 1) * db2dw*u + coeff(3, 1)*temp2B3*u;
+        Matrix33 dtdu = Matrix33::Identity() + coeff(2, 0)*B + coeff(2, 1) * B2;
+
+        Eigen::VectorXd rk(X.cols());
+        Eigen::MatrixXd Jk(X.cols(), 6);
+#pragma omp for
+        for (int i = 0; i < X.cols(); i++)
+        {
+            Vector3 xi = X.col(i);
+            Vector3 yi = Y.col(i);
+            Vector3 ni = norm_y.col(i);
+            double wi = sqrt(w_normalized[i]);
+
+            Matrix33 dedR = wi*ni * xi.transpose();
+            Vector3 dedt = wi*ni;
+
+            Vector6 dedx;
+            dedx(0) = (dedR.cwiseProduct(dRdw.block(0, 0, 3, 3))).sum()
+                    + dedt.dot(dtdw.head<3>());
+            dedx(1) = (dedR.cwiseProduct(dRdw.block(3, 0, 3, 3))).sum()
+                    + dedt.dot(dtdw.segment<3>(3));
+            dedx(2) = (dedR.cwiseProduct(dRdw.block(6, 0, 3, 3))).sum()
+                    + dedt.dot(dtdw.tail<3>());
+            dedx(3) = dedt.dot(dtdu.col(0));
+            dedx(4) = dedt.dot(dtdu.col(1));
+            dedx(5) = dedt.dot(dtdu.col(2));
+
+            Jk.row(i) = dedx.transpose();
+            rk[i] = wi * ni.dot(R*xi-yi+t);
+        }
+        LHS = Jk.transpose() * Jk;
+        RHS = -Jk.transpose() * rk;
+        Eigen::CompleteOrthogonalDecomposition<Matrix66> cod_(LHS);
+        dir = cod_.solve(RHS);
+        double gTd = -RHS.dot(dir);
+        return gTd;
+    }
+
+
+public:
+    void point_to_point(MatrixNX& X, MatrixNX& Y, VectorN& source_mean,
+                        VectorN& target_mean, ICP::Parameters& par){
+        /// Build kd-tree
+        KDtree kdtree(Y);
+        /// Buffers
+        MatrixNX Q = MatrixNX::Zero(N, X.cols());
+        VectorX W = VectorX::Zero(X.cols());
+        AffineNd T;
+        if (par.use_init) T.matrix() = par.init_trans;
+        else T = AffineNd::Identity();
+        MatrixXX To1 = T.matrix();
+        MatrixXX To2 = T.matrix();
+        int nPoints = X.cols();
+
+        //Anderson Acc para
+        AndersonAcceleration accelerator_;
+        AffineNd SVD_T = T;
+        double energy = .0, last_energy = std::numeric_limits<double>::max();
+
+        //ground truth point clouds
+        MatrixNX X_gt = X;
+        if(par.has_groundtruth)
+        {
+            VectorN temp_trans = par.gt_trans.col(N).head(N);
+            X_gt.colwise() += source_mean;
+            X_gt = par.gt_trans.block(0, 0, N, N) * X_gt;
+            X_gt.colwise() += temp_trans - target_mean;
+        }
+
+        //output para
+        std::string file_out = par.out_path;
+        std::vector<double> times, energys, gt_mses;
+        double begin_time, end_time, run_time;
+        double gt_mse = 0.0;
+
+        // dynamic welsch paras
+        double nu1 = 1, nu2 = 1;
+        double begin_init = omp_get_wtime();
+
+        //Find initial closest point
+#pragma omp parallel for
+        for (int i = 0; i<nPoints; ++i) {
+            VectorN cur_p = T * X.col(i);
+            Q.col(i) = Y.col(kdtree.closest(cur_p.data()));
+            W[i] = (cur_p - Q.col(i)).norm();
+        }
+        if(par.f == ICP::WELSCH)
+        {
+            //dynamic welsch, calc k-nearest points with itself;
+            nu2 = par.nu_end_k * FindKnearestMed(kdtree, Y, 7);
+            double med1;
+            igl::median(W, med1);
+            nu1 = par.nu_begin_k * med1;
+            nu1 = nu1>nu2? nu1:nu2;
+        }
+        double end_init = omp_get_wtime();
+        double init_time = end_init - begin_init;
+
+        //AA init
+        accelerator_.init(par.anderson_m, (N + 1) * (N + 1), LogMatrix(T.matrix()).data());
+
+        begin_time = omp_get_wtime();
+        bool stop1 = false;
+        while(!stop1)
+        {
+            /// run ICP
+            int icp = 0;
+            for (; icp<par.max_icp; ++icp)
+            {
+                bool accept_aa = false;
+                energy = get_energy(par.f, W, nu1);
+                if (par.use_AA)
+                {
+                    if (energy < last_energy) {
+                        last_energy = energy;
+                        accept_aa = true;
+                    }
+                    else{
+                        accelerator_.replace(LogMatrix(SVD_T.matrix()).data());
+                        //Re-find the closest point
+#pragma omp parallel for
+                        for (int i = 0; i<nPoints; ++i) {
+                            VectorN cur_p = SVD_T * X.col(i);
+                            Q.col(i) = Y.col(kdtree.closest(cur_p.data()));
+                            W[i] = (cur_p - Q.col(i)).norm();
+                        }
+                        last_energy = get_energy(par.f, W, nu1);
+                    }
+                }
+                else
+                    last_energy = energy;
+
+                end_time = omp_get_wtime();
+                run_time = end_time - begin_time;
+                if(par.has_groundtruth)
+                {
+                    gt_mse = (T*X - X_gt).squaredNorm()/nPoints;
+                }
+
+                // save results
+                energys.push_back(last_energy);
+                times.push_back(run_time);
+                gt_mses.push_back(gt_mse);
+
+                if (par.print_energy)
+                    std::cout << "icp iter = " << icp << ", Energy = " << last_energy
+                             << ", time = " << run_time << std::endl;
+
+                robust_weight(par.f, W, nu1);
+                // Rotation and translation update
+                T = point_to_point(X, Q, W);
+
+                //Anderson Acc
+                SVD_T = T;
+                if (par.use_AA)
+                {
+                    AffineMatrixN Trans = (Eigen::Map<const AffineMatrixN>(accelerator_.compute(LogMatrix(T.matrix()).data()).data(), N+1, N+1)).exp();
+                    T.linear() = Trans.block(0,0,N,N);
+                    T.translation() = Trans.block(0,N,N,1);
+                }
+
+                // Find closest point
+#pragma omp parallel for
+                for (int i = 0; i<nPoints; ++i) {
+                    VectorN cur_p = T * X.col(i) ;
+                    Q.col(i) = Y.col(kdtree.closest(cur_p.data()));
+                    W[i] = (cur_p - Q.col(i)).norm();
+                }
+                /// Stopping criteria
+                double stop2 = (T.matrix() - To2).norm();
+                To2 = T.matrix();
+                if(stop2 < par.stop)
+                {
+                    break;
+                }
+            }
+            if(par.f!= ICP::WELSCH)
+                stop1 = true;
+            else
+            {
+                stop1 = fabs(nu1 - nu2)<SAME_THRESHOLD? true: false;
+                nu1 = nu1*par.nu_alpha > nu2? nu1*par.nu_alpha : nu2;
+                if(par.use_AA)
+                {
+                    accelerator_.reset(LogMatrix(T.matrix()).data());
+                    last_energy = std::numeric_limits<double>::max();
+                }
+            }
+        }
+
+        ///calc convergence energy
+        last_energy = get_energy(par.f, W, nu1);
+        X = T * X;
+        gt_mse = (X-X_gt).squaredNorm()/nPoints;
+        T.translation() += - T.rotation() * source_mean + target_mean;
+        X.colwise() += target_mean;
+
+        ///save convergence result
+        par.convergence_energy = last_energy;
+        par.convergence_gt_mse = gt_mse;
+        par.res_trans = T.matrix();
+
+        ///output
+        if (par.print_output)
+        {
+            std::ofstream out_res(par.out_path);
+            if (!out_res.is_open())
+            {
+                std::cout << "Can't open out file " << par.out_path << std::endl;
+            }
+
+            //output time and energy
+            out_res.precision(16);
+            for (int i = 0; i<times.size(); i++)
+            {
+                out_res << times[i] << " "<< energys[i] << " " << gt_mses[i] << std::endl;
+            }
+            out_res.close();
+            std::cout << " write res to " << par.out_path << std::endl;
+        }
+    }
+
+
+    /// Reweighted ICP with point to plane
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Target normals (one 3D normal per column)
+    /// @param Parameters
+    //    template <typename Derived1, typename Derived2, typename Derived3>
+    void point_to_plane(Eigen::Matrix3Xd& X,
+                        Eigen::Matrix3Xd& Y, Eigen::Matrix3Xd& norm_x, Eigen::Matrix3Xd& norm_y,
+                        Eigen::Vector3d& source_mean, Eigen::Vector3d& target_mean,
+                        ICP::Parameters &par) {
+        /// Build kd-tree
+        KDtree kdtree(Y);
+        /// Buffers
+        Eigen::Matrix3Xd Qp = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd Qn = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::VectorXd W = Eigen::VectorXd::Zero(X.cols());
+        Eigen::Matrix3Xd ori_X = X;
+        AffineNd T;
+        if (par.use_init) T.matrix() = par.init_trans;
+        else T = AffineNd::Identity();
+        AffineMatrixN To1 = T.matrix();
+        X = T*X;
+
+        Eigen::Matrix3Xd X_gt = X;
+        if(par.has_groundtruth)
+        {
+            Eigen::Vector3d temp_trans = par.gt_trans.block(0, 3, 3, 1);
+            X_gt = ori_X;
+            X_gt.colwise() += source_mean;
+            X_gt = par.gt_trans.block(0, 0, 3, 3) * X_gt;
+            X_gt.colwise() += temp_trans - target_mean;
+        }
+
+        std::vector<double> times, energys, gt_mses;
+        double begin_time, end_time, run_time;
+        double gt_mse = 0.0;
+
+        ///dynamic welsch, calc k-nearest points with itself;
+        double begin_init = omp_get_wtime();
+
+        //Anderson Acc para
+        AndersonAcceleration accelerator_;
+        AffineNd LG_T = T;
+        double energy = 0.0, prev_res = std::numeric_limits<double>::max(), res = 0.0;
+
+
+        // Find closest point
+#pragma omp parallel for
+        for (int i = 0; i<X.cols(); ++i) {
+            int id = kdtree.closest(X.col(i).data());
+            Qp.col(i) = Y.col(id);
+            Qn.col(i) = norm_y.col(id);
+            W[i] = std::abs(Qn.col(i).transpose() * (X.col(i) - Qp.col(i)));
+        }
+        double end_init = omp_get_wtime();
+        double init_time = end_init - begin_init;
+
+        begin_time = omp_get_wtime();
+        int total_iter = 0;
+        double test_total_time = 0.0;
+        bool stop1 = false;
+        while(!stop1)
+        {
+            /// ICP
+            for(int icp=0; icp<par.max_icp; ++icp) {
+                total_iter++;
+
+                bool accept_aa = false;
+                energy = get_energy(par.f, W, par.p);
+                end_time = omp_get_wtime();
+                run_time = end_time - begin_time;
+                energys.push_back(energy);
+                times.push_back(run_time);
+                Eigen::VectorXd test_w = (X-Qp).colwise().norm();
+                if(par.has_groundtruth)
+                {
+                    gt_mse = (X - X_gt).squaredNorm()/X.cols();
+                }
+                gt_mses.push_back(gt_mse);
+
+                /// Compute weights
+                robust_weight(par.f, W, par.p);
+                /// Rotation and translation update
+                T = point_to_plane(X, Qp, Qn, W, Eigen::VectorXd::Zero(X.cols()))*T;
+                /// Find closest point
+#pragma omp parallel for
+                for(int i=0; i<X.cols(); i++) {
+                    X.col(i) = T * ori_X.col(i);
+                    int id = kdtree.closest(X.col(i).data());
+                    Qp.col(i) = Y.col(id);
+                    Qn.col(i) = norm_y.col(id);
+                    W[i] = std::abs(Qn.col(i).transpose() * (X.col(i) - Qp.col(i)));
+                }
+
+                if(par.print_energy)
+                    std::cout << "icp iter = " << total_iter << ", gt_mse = " << gt_mse
+                              << ", energy = " << energy << std::endl;
+
+                /// Stopping criteria
+                double stop2 = (T.matrix() - To1).norm();
+                To1 = T.matrix();
+                if(stop2 < par.stop) break;
+            }
+            stop1 = true;
+        }
+
+        par.res_trans = T.matrix();
+
+        ///calc convergence energy
+        W = (Qn.array()*(X - Qp).array()).colwise().sum().abs().transpose();
+        energy = get_energy(par.f, W, par.p);
+        gt_mse = (X - X_gt).squaredNorm() / X.cols();
+        T.translation().noalias() += -T.rotation()*source_mean + target_mean;
+        X.colwise() += target_mean;
+        norm_x = T.rotation()*norm_x;
+
+        ///save convergence result
+        par.convergence_energy = energy;
+        par.convergence_gt_mse = gt_mse;
+        par.res_trans = T.matrix();
+
+        ///output
+        if (par.print_output)
+        {
+            std::ofstream out_res(par.out_path);
+            if (!out_res.is_open())
+            {
+                std::cout << "Can't open out file " << par.out_path << std::endl;
+            }
+
+            ///output time and energy
+            out_res.precision(16);
+            for (int i = 0; i<total_iter; i++)
+            {
+                out_res << times[i] << " "<< energys[i] << " " << gt_mses[i] << std::endl;
+            }
+            out_res.close();
+            std::cout << " write res to " << par.out_path << std::endl;
+        }
+    }
+
+
+
+    /// Reweighted ICP with point to plane
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Target normals (one 3D normal per column)
+    /// @param Parameters
+    //    template <typename Derived1, typename Derived2, typename Derived3>
+    void point_to_plane_GN(Eigen::Matrix3Xd& X,
+                           Eigen::Matrix3Xd& Y, Eigen::Matrix3Xd& norm_x, Eigen::Matrix3Xd& norm_y,
+                           Eigen::Vector3d& source_mean, Eigen::Vector3d& target_mean,
+                           ICP::Parameters &par) {
+        /// Build kd-tree
+        KDtree kdtree(Y);
+        /// Buffers
+        Eigen::Matrix3Xd Qp = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd Qn = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::VectorXd W = Eigen::VectorXd::Zero(X.cols());
+        Eigen::Matrix3Xd ori_X = X;
+        AffineNd T;
+        if (par.use_init) T.matrix() = par.init_trans;
+        else T = AffineNd::Identity();
+        AffineMatrixN To1 = T.matrix();
+        X = T*X;
+
+        Eigen::Matrix3Xd X_gt = X;
+        if(par.has_groundtruth)
+        {
+            Eigen::Vector3d temp_trans = par.gt_trans.block(0, 3, 3, 1);
+            X_gt = ori_X;
+            X_gt.colwise() += source_mean;
+            X_gt = par.gt_trans.block(0, 0, 3, 3) * X_gt;
+            X_gt.colwise() += temp_trans - target_mean;
+        }
+
+        std::vector<double> times, energys, gt_mses;
+        double begin_time, end_time, run_time;
+        double gt_mse;
+
+        ///dynamic welsch, calc k-nearest points with itself;
+        double nu1 = 1, nu2 = 1;
+        double begin_init = omp_get_wtime();
+
+        //Anderson Acc para
+        AndersonAcceleration accelerator_;
+        Vector6 LG_T;
+        Vector6 Dir;
+        //add time test
+        double energy = 0.0, prev_energy = std::numeric_limits<double>::max();
+        if(par.use_AA)
+        {
+            Eigen::Matrix4d log_T = LogMatrix(T.matrix());
+            LG_T = LogToVec(log_T);
+            accelerator_.init(par.anderson_m, 6, LG_T.data());
+        }
+
+        // Find closest point
+#pragma omp parallel for
+        for (int i = 0; i<X.cols(); ++i) {
+            int id = kdtree.closest(X.col(i).data());
+            Qp.col(i) = Y.col(id);
+            Qn.col(i) = norm_y.col(id);
+            W[i] = std::abs(Qn.col(i).transpose() * (X.col(i) - Qp.col(i)));
+        }
+
+        if(par.f == ICP::WELSCH)
+        {
+            double med1;
+            igl::median(W, med1);
+            nu1 =par.nu_begin_k * med1;
+            nu2 = par.nu_end_k * FindKnearestNormMed(kdtree, Y, 7, norm_y);
+            nu1 = nu1>nu2? nu1:nu2;
+        }
+        double end_init = omp_get_wtime();
+        double init_time = end_init - begin_init;
+
+        begin_time = omp_get_wtime();
+        int total_iter = 0;
+        double test_total_time = 0.0;
+        bool stop1 = false;
+        par.max_icp = 6;
+        while(!stop1)
+        {
+            par.max_icp = std::min(par.max_icp+1, 10);
+            /// ICP
+            for(int icp=0; icp<par.max_icp; ++icp) {
+                total_iter++;
+
+                int n_linsearch = 0;
+                energy = get_energy(par.f, W, nu1);
+                if(par.use_AA)
+                {
+                    if(energy < prev_energy)
+                    {
+                        prev_energy = energy;
+                    }
+                    else
+                    {
+                        // line search
+                        double alpha = 0.0;
+                        Vector6 new_t = LG_T;
+                        Eigen::VectorXd lowest_W = W;
+                        Eigen::Matrix3Xd lowest_Qp = Qp;
+                        Eigen::Matrix3Xd lowest_Qn = Qn;
+                        Eigen::Affine3d lowest_T = T;
+                        n_linsearch++;
+                        alpha = 1;
+                        new_t = LG_T + alpha * Dir;
+                        T.matrix() = VecToLog(new_t).exp();
+                        /// Find closest point
+#pragma omp parallel for
+                        for(int i=0; i<X.cols(); i++) {
+                            X.col(i) = T * ori_X.col(i);
+                            int id = kdtree.closest(X.col(i).data());
+                            Qp.col(i) = Y.col(id);
+                            Qn.col(i) = norm_y.col(id);
+                            W[i] = std::abs(Qn.col(i).transpose() * (X.col(i) - Qp.col(i)));
+                        }
+                        double test_energy = get_energy(par.f, W, nu1);
+                       if(test_energy < energy)
+                        {
+                            accelerator_.reset(new_t.data());
+                            energy = test_energy;
+                        }
+                        else
+                        {
+                            Qp = lowest_Qp;
+                            Qn = lowest_Qn;
+                            W = lowest_W;
+                            T = lowest_T;
+                        }
+                        prev_energy = energy;
+                    }
+                }
+                else
+                {
+                    prev_energy = energy;
+                }
+
+                end_time = omp_get_wtime();
+                run_time = end_time - begin_time;
+                energys.push_back(prev_energy);
+                times.push_back(run_time);
+                if(par.has_groundtruth)
+                {
+                    gt_mse = (X - X_gt).squaredNorm()/X.cols();
+                }
+                gt_mses.push_back(gt_mse);
+
+                /// Compute weights
+                robust_weight(par.f, W, nu1);
+                /// Rotation and translation update
+                point_to_plane_gaussnewton(ori_X, Qp, Qn, W, T.matrix(), Dir);
+                LG_T = LogToVec(LogMatrix(T.matrix()));
+                LG_T += Dir;
+                T.matrix() = VecToLog(LG_T).exp();
+
+                // Anderson acc
+                if(par.use_AA)
+                {
+                    Vector6 AA_t;
+                    AA_t = accelerator_.compute(LG_T.data());
+                    T.matrix() = VecToLog(AA_t).exp();
+                }
+                if(par.print_energy)
+                    std::cout << "icp iter = " << total_iter << ", gt_mse = " << gt_mse
+                              << ", nu1 = " << nu1 << ", acept_aa= " << n_linsearch
+                              << ", energy = " << prev_energy << std::endl;
+
+                /// Find closest point
+#pragma omp parallel for
+                for(int i=0; i<X.cols(); i++) {
+                    X.col(i) = T * ori_X.col(i);
+                    int id = kdtree.closest(X.col(i).data());
+                    Qp.col(i) = Y.col(id);
+                    Qn.col(i) = norm_y.col(id);
+                    W[i] = std::abs(Qn.col(i).transpose() * (X.col(i) - Qp.col(i)));
+                }
+
+                /// Stopping criteria
+                double stop2 = (T.matrix() - To1).norm();
+                To1 = T.matrix();
+                if(stop2 < par.stop) break;
+            }
+
+            if(par.f == ICP::WELSCH)
+            {
+                stop1 = fabs(nu1 - nu2)<SAME_THRESHOLD? true: false;
+                nu1 = nu1*par.nu_alpha > nu2 ? nu1*par.nu_alpha : nu2;
+                if(par.use_AA)
+                {
+                    accelerator_.reset(LogToVec(LogMatrix(T.matrix())).data());
+                    prev_energy = std::numeric_limits<double>::max();
+                }
+            }
+            else
+                stop1 = true;
+        }
+
+        par.res_trans = T.matrix();
+
+        ///calc convergence energy
+        W = (Qn.array()*(X - Qp).array()).colwise().sum().abs().transpose();
+        energy = get_energy(par.f, W, nu1);
+        gt_mse = (X - X_gt).squaredNorm() / X.cols();
+        T.translation().noalias() += -T.rotation()*source_mean + target_mean;
+        X.colwise() += target_mean;
+        norm_x = T.rotation()*norm_x;
+
+        ///save convergence result
+        par.convergence_energy = energy;
+        par.convergence_gt_mse = gt_mse;
+        par.res_trans = T.matrix();
+
+        ///output
+        if (par.print_output)
+        {
+            std::ofstream out_res(par.out_path);
+            if (!out_res.is_open())
+            {
+                std::cout << "Can't open out file " << par.out_path << std::endl;
+            }
+
+            ///output time and energy
+            out_res.precision(16);
+            for (int i = 0; i<total_iter; i++)
+            {
+                out_res << times[i] << " "<< energys[i] << " " << gt_mses[i] << std::endl;
+            }
+            out_res.close();
+            std::cout << " write res to " << par.out_path << std::endl;
+        }
+    }
+};
+
+
+#endif

ICP.h

@@ -0,0 +1,1035 @@
+///////////////////////////////////////////////////////////////////////////////
+///   "Sparse Iterative Closest Point"
+///   by Sofien Bouaziz, Andrea Tagliasacchi, Mark Pauly
+///   Copyright (C) 2013  LGG, EPFL
+///////////////////////////////////////////////////////////////////////////////
+///   1) This file contains different implementations of the ICP algorithm.
+///   2) This code requires EIGEN and NANOFLANN.
+///   3) If OPENMP is activated some part of the code will be parallelized.
+///   4) This code is for now designed for 3D registration
+///   5) Two main input types are Eigen::Matrix3Xd or Eigen::Map<Eigen::Matrix3Xd>
+///////////////////////////////////////////////////////////////////////////////
+///   namespace nanoflann: NANOFLANN KD-tree adaptor for EIGEN
+///   namespace RigidMotionEstimator: functions to compute the rigid motion
+///   namespace SICP: sparse ICP implementation
+///   namespace ICP: reweighted ICP implementation
+///////////////////////////////////////////////////////////////////////////////
+#ifndef ICP_H
+#define ICP_H
+#include <nanoflann.hpp>
+#include <AndersonAcceleration.h>
+#include <time.h>
+#include <fstream>
+#include <algorithm>
+#include <median.h>
+#include <iostream>
+
+#define TUPLE_SCALE	  0.95
+#define TUPLE_MAX_CNT 1000
+
+
+///////////////////////////////////////////////////////////////////////////////
+namespace nanoflann {
+    /// KD-tree adaptor for working with data directly stored in an Eigen Matrix, without duplicating the data storage.
+    /// This code is adapted from the KDTreeEigenMatrixAdaptor class of nanoflann.hpp
+    template <class MatrixType, int DIM = -1, class Distance = nanoflann::metric_L2, typename IndexType = int>
+    struct KDTreeAdaptor {
+        typedef KDTreeAdaptor<MatrixType, DIM, Distance> self_t;
+        typedef typename MatrixType::Scalar              num_t;
+        typedef typename Distance::template traits<num_t, self_t>::distance_t metric_t;
+        typedef KDTreeSingleIndexAdaptor< metric_t, self_t, DIM, IndexType>  index_t;
+        index_t* index;
+        KDTreeAdaptor(const MatrixType &mat, const int leaf_max_size = 10) : m_data_matrix(mat) {
+            const size_t dims = mat.rows();
+            index = new index_t(dims, *this, nanoflann::KDTreeSingleIndexAdaptorParams(leaf_max_size, dims));
+            index->buildIndex();
+        }
+        ~KDTreeAdaptor() { delete index; }
+        const MatrixType &m_data_matrix;
+        /// Query for the num_closest closest points to a given point (entered as query_point[0:dim-1]).
+        inline void query(const num_t *query_point, const size_t num_closest, IndexType *out_indices, num_t *out_distances_sq) const {
+            nanoflann::KNNResultSet<typename MatrixType::Scalar, IndexType> resultSet(num_closest);
+            resultSet.init(out_indices, out_distances_sq);
+            index->findNeighbors(resultSet, query_point, nanoflann::SearchParams());
+        }
+        /// Query for the closest points to a given point (entered as query_point[0:dim-1]).
+        inline IndexType closest(const num_t *query_point) const {
+            IndexType out_indices;
+            num_t out_distances_sq;
+            query(query_point, 1, &out_indices, &out_distances_sq);
+            return out_indices;
+        }
+        const self_t & derived() const { return *this; }
+        self_t & derived() { return *this; }
+        inline size_t kdtree_get_point_count() const { return m_data_matrix.cols(); }
+        /// Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:
+        inline num_t kdtree_distance(const num_t *p1, const size_t idx_p2, size_t size) const {
+            num_t s = 0;
+            for (size_t i = 0; i<size; i++) {
+                num_t d = p1[i] - m_data_matrix.coeff(i, idx_p2);
+                s += d*d;
+            }
+            return s;
+        }
+        /// Returns the dim'th component of the idx'th point in the class:
+        inline num_t kdtree_get_pt(const size_t idx, int dim) const {
+            return m_data_matrix.coeff(dim, idx);
+        }
+        /// Optional bounding-box computation: return false to default to a standard bbox computation loop.
+        template <class BBOX> bool kdtree_get_bbox(BBOX&) const { return false; }
+    };
+}
+///////////////////////////////////////////////////////////////////////////////
+/// Compute the rigid motion for point-to-point and point-to-plane distances
+namespace RigidMotionEstimator {
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Confidence weights
+    template <typename Derived1, typename Derived2, typename Derived3>
+    Eigen::Affine3d point_to_point(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Y,
+        const Eigen::MatrixBase<Derived3>& w) {
+        int dim = X.rows();
+        /// Normalize weight vector
+        Eigen::VectorXd w_normalized = w / w.sum();
+        /// De-mean
+        Eigen::VectorXd X_mean(dim), Y_mean(dim);
+        for (int i = 0; i<dim; ++i) {
+            X_mean(i) = (X.row(i).array()*w_normalized.transpose().array()).sum();
+            Y_mean(i) = (Y.row(i).array()*w_normalized.transpose().array()).sum();
+        }
+        X.colwise() -= X_mean;
+        Y.colwise() -= Y_mean;
+
+        /// Compute transformation
+        Eigen::Affine3d transformation;
+        MatrixXX sigma = X * w_normalized.asDiagonal() * Y.transpose();
+        Eigen::JacobiSVD<MatrixXX> svd(sigma, Eigen::ComputeFullU | Eigen::ComputeFullV);
+        if (svd.matrixU().determinant()*svd.matrixV().determinant() < 0.0) {
+            VectorX S = VectorX::Ones(dim); S(dim-1) = -1.0;
+            transformation.linear() = svd.matrixV()*S.asDiagonal()*svd.matrixU().transpose();
+        }
+        else {
+            transformation.linear() = svd.matrixV()*svd.matrixU().transpose();
+        }
+        transformation.translation() = Y_mean - transformation.linear()*X_mean;
+        /// Re-apply mean
+        X.colwise() += X_mean;
+        Y.colwise() += Y_mean;
+        /// Apply transformation
+//        X = transformation*X;
+        /// Return transformation
+        return transformation;
+    }
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    template <typename Derived1, typename Derived2>
+    inline Eigen::Affine3d point_to_point(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Y) {
+        return point_to_point(X, Y, Eigen::VectorXd::Ones(X.cols()));
+    }
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Target normals (one 3D normal per column)
+    /// @param Confidence weights
+    /// @param Right hand side
+    template <typename Derived1, typename Derived2, typename Derived3, typename Derived4, typename Derived5>
+    Eigen::Affine3d point_to_plane(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Y,
+        Eigen::MatrixBase<Derived3>& N,
+        const Eigen::MatrixBase<Derived4>& w,
+        const Eigen::MatrixBase<Derived5>& u) {
+        typedef Eigen::Matrix<double, 6, 6> Matrix66;
+        typedef Eigen::Matrix<double, 6, 1> Vector6;
+        typedef Eigen::Block<Matrix66, 3, 3> Block33;
+        /// Normalize weight vector
+        Eigen::VectorXd w_normalized = w / w.sum();
+        /// De-mean
+        Eigen::Vector3d X_mean;
+        for (int i = 0; i<3; ++i)
+            X_mean(i) = (X.row(i).array()*w_normalized.transpose().array()).sum();
+        X.colwise() -= X_mean;
+        Y.colwise() -= X_mean;
+        /// Prepare LHS and RHS
+        Matrix66 LHS = Matrix66::Zero();
+        Vector6 RHS = Vector6::Zero();
+        Block33 TL = LHS.topLeftCorner<3, 3>();
+        Block33 TR = LHS.topRightCorner<3, 3>();
+        Block33 BR = LHS.bottomRightCorner<3, 3>();
+        Eigen::MatrixXd C = Eigen::MatrixXd::Zero(3, X.cols());
+#pragma omp parallel
+        {
+#pragma omp for
+            for (int i = 0; i<X.cols(); i++) {
+                C.col(i) = X.col(i).cross(N.col(i));
+            }
+#pragma omp sections nowait
+            {
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) TL.selfadjointView<Eigen::Upper>().rankUpdate(C.col(i), w(i));
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) TR += (C.col(i)*N.col(i).transpose())*w(i);
+#pragma omp section
+                for (int i = 0; i<X.cols(); i++) BR.selfadjointView<Eigen::Upper>().rankUpdate(N.col(i), w(i));
+#pragma omp section
+                for (int i = 0; i<C.cols(); i++) {
+                    double dist_to_plane = -((X.col(i) - Y.col(i)).dot(N.col(i)) - u(i))*w(i);
+                    RHS.head<3>() += C.col(i)*dist_to_plane;
+                    RHS.tail<3>() += N.col(i)*dist_to_plane;
+                }
+            }
+        }
+        LHS = LHS.selfadjointView<Eigen::Upper>();
+        /// Compute transformation
+        Eigen::Affine3d transformation;
+        Eigen::LDLT<Matrix66> ldlt(LHS);
+        RHS = ldlt.solve(RHS);
+        transformation = Eigen::AngleAxisd(RHS(0), Eigen::Vector3d::UnitX()) *
+            Eigen::AngleAxisd(RHS(1), Eigen::Vector3d::UnitY()) *
+            Eigen::AngleAxisd(RHS(2), Eigen::Vector3d::UnitZ());
+        transformation.translation() = RHS.tail<3>();
+        /// Apply transformation
+        X = transformation*X;
+        /// Re-apply mean
+        X.colwise() += X_mean;
+        Y.colwise() += X_mean;
+        transformation.translation() += -transformation.linear() * X_mean + X_mean;
+        /// Return transformation
+        return transformation;
+    }
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Target normals (one 3D normal per column)
+    /// @param Confidence weights
+    template <typename Derived1, typename Derived2, typename Derived3, typename Derived4>
+    inline Eigen::Affine3d point_to_plane(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Yp,
+        Eigen::MatrixBase<Derived3>& Yn,
+        const Eigen::MatrixBase<Derived4>& w) {
+        return point_to_plane(X, Yp, Yn, w, Eigen::VectorXd::Zero(X.cols()));
+    }
+}
+///////////////////////////////////////////////////////////////////////////////
+/// ICP implementation using ADMM/ALM/Penalty method
+namespace SICP {
+    struct Parameters {
+        bool use_penalty = false; /// if use_penalty then penalty method else ADMM or ALM (see max_inner)
+        double p = 1.0;           /// p norm
+        double mu = 10.0;         /// penalty weight
+        double alpha = 1.2;       /// penalty increase factor
+        double max_mu = 1e5;      /// max penalty
+        int max_icp = 100;        /// max ICP iteration
+        int max_outer = 100;      /// max outer iteration
+        int max_inner = 1;        /// max inner iteration. If max_inner=1 then ADMM else ALM
+        double stop = 1e-5;       /// stopping criteria
+        bool print_icpn = false;  /// (debug) print ICP iteration
+        Eigen::Matrix4d init_trans = Eigen::Matrix4d::Identity();
+        Eigen::Matrix4d gt_trans = Eigen::Matrix4d::Identity();
+        bool has_groundtruth = false;
+        int convergence_iter = 0;
+        double convergence_mse = 0.0;
+        double convergence_gt_mse = 0.0;
+        Eigen::Matrix4d res_trans = Eigen::Matrix4d::Identity();
+        std::string file_err = "";
+        std::string out_path = "";
+        int total_iters = 0;
+    };
+    /// Shrinkage operator (Automatic loop unrolling using template)
+    template<unsigned int I>
+    inline double shrinkage(double mu, double n, double p, double s) {
+        return shrinkage<I - 1>(mu, n, p, 1.0 - (p / mu)*std::pow(n, p - 2.0)*std::pow(s, p - 1.0));
+    }
+    template<>
+    inline double shrinkage<0>(double, double, double, double s) { return s; }
+    /// 3D Shrinkage for point-to-point
+    template<unsigned int I>
+    inline void shrink(Eigen::Matrix3Xd& Q, double mu, double p) {
+        double Ba = std::pow((2.0 / mu)*(1.0 - p), 1.0 / (2.0 - p));
+        double ha = Ba + (p / mu)*std::pow(Ba, p - 1.0);
+#pragma omp parallel for
+        for (int i = 0; i<Q.cols(); ++i) {
+            double n = Q.col(i).norm();
+            double w = 0.0;
+            if (n > ha) w = shrinkage<I>(mu, n, p, (Ba / n + 1.0) / 2.0);
+            Q.col(i) *= w;
+        }
+    }
+    /// 1D Shrinkage for point-to-plane
+    template<unsigned int I>
+    inline void shrink(Eigen::VectorXd& y, double mu, double p) {
+        double Ba = std::pow((2.0 / mu)*(1.0 - p), 1.0 / (2.0 - p));
+        double ha = Ba + (p / mu)*std::pow(Ba, p - 1.0);
+#pragma omp parallel for
+        for (int i = 0; i<y.rows(); ++i) {
+            double n = std::abs(y(i));
+            double s = 0.0;
+            if (n > ha) s = shrinkage<I>(mu, n, p, (Ba / n + 1.0) / 2.0);
+            y(i) *= s;
+        }
+    }
+    /// Sparse ICP with point to point
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Parameters
+    template <typename Derived1, typename Derived2>
+    void point_to_point(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Y, Eigen::Vector3d& source_mean, Eigen::Vector3d& target_mean,
+        Parameters& par) {
+        /// Build kd-tree
+        nanoflann::KDTreeAdaptor<Eigen::MatrixBase<Derived2>, 3, nanoflann::metric_L2_Simple> kdtree(Y);
+        /// Buffers
+        Eigen::Matrix3Xd Q = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd Z = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd C = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd ori_X = X;
+        Eigen::Affine3d T(par.init_trans);
+        Eigen::Matrix3Xd X_gt;
+        int nPoints = X.cols();
+        X = T * X;
+        Eigen::Matrix3Xd Xo1 = X;
+        Eigen::Matrix3Xd Xo2 = X;
+        double  gt_mse = 0.0, run_time;
+        double begin_time, end_time;
+        std::vector<double> gt_mses, times;
+
+        if(par.has_groundtruth)
+        {
+            Eigen::Vector3d temp_trans = par.gt_trans.block(0, 3, 3, 1);
+            X_gt = ori_X;
+            X_gt.colwise() += source_mean;
+            X_gt = par.gt_trans.block(0, 0, 3, 3) * X_gt;
+            X_gt.colwise() += temp_trans - target_mean;
+        }
+
+        begin_time = omp_get_wtime();
+
+        /// ICP
+        int icp;
+        for (icp = 0; icp<par.max_icp; ++icp) {
+            /// Find closest point
+#pragma omp parallel for
+            for (int i = 0; i<X.cols(); ++i) {
+                Q.col(i) = Y.col(kdtree.closest(X.col(i).data()));
+            }
+
+            end_time = omp_get_wtime();
+            run_time = end_time - begin_time;
+            ///calc mse and gt_mse
+            if(par.has_groundtruth)
+            {
+                gt_mse = (X - X_gt).squaredNorm() / nPoints;
+            }
+            times.push_back(run_time);
+            gt_mses.push_back(gt_mse);
+//            if(par.print_icpn)
+//                std::cout << "iter = " << icp << ", time = " << run_time << ", mse = " << mse << ", gt_mse = " << gt_mse << std::endl;
+
+            /// Computer rotation and translation
+            double mu = par.mu;
+            for (int outer = 0; outer<par.max_outer; ++outer) {
+                double dual = 0.0;
+                for (int inner = 0; inner<par.max_inner; ++inner) {
+                    /// Z update (shrinkage)
+                    Z = X - Q + C / mu;
+                    shrink<3>(Z, mu, par.p);
+                    /// Rotation and translation update
+                    Eigen::Matrix3Xd U = Q + Z - C / mu;
+                    Eigen::Affine3d cur_T = RigidMotionEstimator::point_to_point(X, U);
+                    X = cur_T * X;
+                    T = cur_T * T;
+                    /// Stopping criteria
+                    dual = pow((X - Xo1).norm(),2) / nPoints;
+                    Xo1 = X;
+                    if (dual < par.stop) break;
+                }
+                /// C update (lagrange multipliers)
+                Eigen::Matrix3Xd P = X - Q - Z;
+                if (!par.use_penalty) C.noalias() += mu*P;
+                /// mu update (penalty)
+                if (mu < par.max_mu) mu *= par.alpha;
+                /// Stopping criteria
+                double primal = P.colwise().norm().maxCoeff();
+                if (primal < par.stop && dual < par.stop) break;
+            }
+
+            /// Stopping criteria
+            double stop = (X-Xo2).colwise().norm().maxCoeff();
+            Xo2 = X;
+            if (stop < par.stop) break;
+        }
+        if(par.has_groundtruth)
+            gt_mse = (X-X_gt).squaredNorm()/nPoints;
+
+        if(par.print_icpn)
+        {
+            std::ofstream out_res(par.out_path);
+            for(int i = 0; i<times.size(); i++)
+            {
+                out_res << times[i] << " " << gt_mses[i] << std::endl;
+            }
+            out_res.close();
+        }
+
+        T.translation().noalias() += -T.rotation()*source_mean + target_mean;
+        X.colwise() += target_mean;
+
+        ///save convergence result
+        par.convergence_gt_mse = gt_mse;
+        par.convergence_iter = icp;
+        par.res_trans = T.matrix();
+    }
+    /// Sparse ICP with point to plane
+    /// @param Source (one 3D point per column)
+    /// @param Target (one 3D point per column)
+    /// @param Target normals (one 3D normal per column)
+    /// @param Parameters
+    template <typename Derived1, typename Derived2, typename Derived3>
+    void point_to_plane(Eigen::MatrixBase<Derived1>& X,
+        Eigen::MatrixBase<Derived2>& Y,
+        Eigen::MatrixBase<Derived3>& N, Eigen::Vector3d source_mean, Eigen::Vector3d target_mean,
+        Parameters &par) {
+        /// Build kd-tree
+        nanoflann::KDTreeAdaptor<Eigen::MatrixBase<Derived2>, 3, nanoflann::metric_L2_Simple> kdtree(Y);
+        /// Buffers
+        Eigen::Matrix3Xd Qp = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::Matrix3Xd Qn = Eigen::Matrix3Xd::Zero(3, X.cols());
+        Eigen::VectorXd Z = Eigen::VectorXd::Zero(X.cols());
+        Eigen::VectorXd C = Eigen::VectorXd::Zero(X.cols());
+        Eigen::Matrix3Xd ori_X = X;
+        Eigen::Affine3d T(par.init_trans);
+        Eigen::Matrix3Xd X_gt;
+        int nPoints = X.cols();
+        X = T*X;
+        Eigen::Matrix3Xd Xo1 = X;
+        Eigen::Matrix3Xd Xo2 = X;
+        double gt_mse = 0.0, run_time;
+        double begin_time, end_time;
+        std::vector<double> gt_mses, times;
+
+        if(par.has_groundtruth)
+        {
+            Eigen::Vector3d temp_trans = par.gt_trans.block(0, 3, 3, 1);
+            X_gt = ori_X;
+            X_gt.colwise() += source_mean;
+            X_gt = par.gt_trans.block(0, 0, 3, 3) * X_gt;
+            X_gt.colwise() += temp_trans - target_mean;
+        }
+
+        begin_time = omp_get_wtime();
+
+        /// ICP
+        int icp;
+        int total_iters = 0;
+        for (icp = 0; icp<par.max_icp; ++icp) {
+
+            /// Find closest point
+#pragma omp parallel for
+            for (int i = 0; i<X.cols(); ++i) {
+                int id = kdtree.closest(X.col(i).data());
+                Qp.col(i) = Y.col(id);
+                Qn.col(i) = N.col(id);
+            }
+
+            end_time = omp_get_wtime();
+            run_time = end_time - begin_time;
+            ///calc mse and gt_mse
+            if(par.has_groundtruth)
+            {
+                gt_mse = (X - X_gt).squaredNorm() / nPoints;
+            }
+            times.push_back(run_time);
+            gt_mses.push_back(gt_mse);
+
+            if(par.print_icpn)
+                std::cout << "iter = " << icp << ", time = " << run_time << ", gt_mse = " << gt_mse << std::endl;
+
+            /// Computer rotation and translation
+            double mu = par.mu;
+            for (int outer = 0; outer<par.max_outer; ++outer) {
+                double dual = 0.0;
+                for (int inner = 0; inner<par.max_inner; ++inner) {
+                    total_iters++;
+                    /// Z update (shrinkage)
+                    Z = (Qn.array()*(X - Qp).array()).colwise().sum().transpose() + C.array() / mu;
+                    shrink<3>(Z, mu, par.p);
+                    /// Rotation and translation update
+                    Eigen::VectorXd U = Z - C / mu;
+                    T = RigidMotionEstimator::point_to_plane(X, Qp, Qn, Eigen::VectorXd::Ones(X.cols()), U)*T;
+                    /// Stopping criteria
+                    dual = (X - Xo1).colwise().norm().maxCoeff();
+                    Xo1 = X;
+                    if (dual < par.stop) break;
+                }
+                /// C update (lagrange multipliers)
+                Eigen::VectorXd P = (Qn.array()*(X - Qp).array()).colwise().sum().transpose() - Z.array();
+                if (!par.use_penalty) C.noalias() += mu*P;
+                /// mu update (penalty)
+                if (mu < par.max_mu) mu *= par.alpha;
+                /// Stopping criteria
+                double primal = P.array().abs().maxCoeff();
+                if (primal < par.stop && dual < par.stop) break;
+            }
+            /// Stopping criteria
+            double stop = (X - Xo2).colwise().norm().maxCoeff();
+            Xo2 = X;
+            if (stop < par.stop) break;
+        }
+        if(par.has_groundtruth)
+        {
+            gt_mse = (X-X_gt).squaredNorm()/nPoints;
+        }
+        if(par.print_icpn)
+        {
+            std::ofstream out_res(par.out_path);
+            for(int i = 0; i<times.size(); i++)
+            {
+                out_res << times[i] << " " <<gt_mses[i] << std::endl;
+            }
+            out_res.close();
+        }
+
+        T.translation() += - T.rotation() * source_mean + target_mean;
+        X.colwise() += target_mean;
+        ///save convergence result
+        par.convergence_gt_mse = gt_mse;
+        par.convergence_iter = icp;
+        par.res_trans = T.matrix();
+        par.total_iters = total_iters;
+    }
+}
+///////////////////////////////////////////////////////////////////////////////
+/// ICP implementation using iterative reweighting
+namespace ICP {
+    enum Function {
+        PNORM,
+        TUKEY,
+        FAIR,
+        LOGISTIC,
+        TRIMMED,
+        WELSCH,
+        AUTOWELSCH,
+        NONE
+    };
+    enum AAElementType {
+        EULERANGLE,
+        QUATERNION,
+        LOG_TRANS,
+        ROTATION,
+        FPFH,
+        DUAL_QUATERNION
+    };
+    class Parameters {
+    public:
+        Parameters() : f(NONE),
+            p(0.1),
+            max_icp(100),
+            max_outer(1),
+            stop(1e-5),
+            use_AA(false),
+            print_energy(false),
+            print_output(false),
+            anderson_m(5),
+            beta_(1.0),
+            error_overflow_threshold_(0.05),
+            has_groundtruth(false),
+            gt_trans(Eigen::Matrix4d::Identity()),
+            convergence_energy(0.0),
+            convergence_iter(0),
+            convergence_gt_mse(0.0),
+            nu_begin_k(3),
+            nu_end_k(1.0/(3.0*sqrt(3.0))),
+            use_init(false),
+            nu_alpha(1.0/2) {}
+        /// Parameters
+        Function f;     /// robust function type
+        double p;       /// paramter of the robust function/// para k
+        int max_icp;    /// max ICP iteration
+        int max_outer;  /// max outer iteration
+        double stop;    /// stopping criteria
+        bool use_AA;  /// whether using anderson acceleration
+        std::string out_path;
+        bool print_energy;///whether print energy
+        bool print_output; ///whether write result to txt
+        int anderson_m;
+        double beta_;
+        double error_overflow_threshold_;
+        MatrixXX init_trans;
+        MatrixXX gt_trans;
+        bool has_groundtruth;
+        double convergence_energy;
+        int convergence_iter;
+        double convergence_gt_mse;
+        MatrixXX res_trans;
+        double nu_begin_k;
+        double nu_end_k;
+        bool use_init;
+        double nu_alpha;
+    };
+    /// Weight functions
+    /// @param Residuals
+    /// @param Parameter
+    void uniform_weight(Eigen::VectorXd& r) {
+        r = Eigen::VectorXd::Ones(r.rows());
+    }
+    /// @param Residuals
+    /// @param Parameter
+    void pnorm_weight(Eigen::VectorXd& r, double p, double reg = 1e-8) {
+        for (int i = 0; i<r.rows(); ++i) {
+            r(i) = p / (std::pow(r(i), 2 - p) + reg);
+        }
+    }
+    /// @param Residuals
+    /// @param Parameter
+    void tukey_weight(Eigen::VectorXd& r, double p) {
+        for (int i = 0; i<r.rows(); ++i) {
+            if (r(i) > p) r(i) = 0.0;
+            else r(i) = std::pow((1.0 - std::pow(r(i) / p, 2.0)), 2.0);
+        }
+    }
+    /// @param Residuals
+    /// @param Parameter
+    void fair_weight(Eigen::VectorXd& r, double p) {
+        for (int i = 0; i<r.rows(); ++i) {
+            r(i) = 1.0 / (1.0 + r(i) / p);
+        }
+    }
+    /// @param Residuals
+    /// @param Parameter
+    void logistic_weight(Eigen::VectorXd& r, double p) {
+        for (int i = 0; i<r.rows(); ++i) {
+            r(i) = (p / r(i))*std::tanh(r(i) / p);
+        }
+    }
+    struct sort_pred {
+        bool operator()(const std::pair<int, double> &left,
+            const std::pair<int, double> &right) {
+            return left.second < right.second;
+        }
+    };
+    /// @param Residuals
+    /// @param Parameter
+    void trimmed_weight(Eigen::VectorXd& r, double p) {
+        std::vector<std::pair<int, double> > sortedDist(r.rows());
+        for (int i = 0; i<r.rows(); ++i) {
+            sortedDist[i] = std::pair<int, double>(i, r(i));
+        }
+        std::sort(sortedDist.begin(), sortedDist.end(), sort_pred());
+        r.setZero();
+        int nbV = r.rows()*p;
+        for (int i = 0; i<nbV; ++i) {
+            r(sortedDist[i].first) = 1.0;
+        }
+    }
+    /// @param Residuals
+    /// @param Parameter
+    void welsch_weight(Eigen::VectorXd& r, double p) {
+        for (int i = 0; i<r.rows(); ++i) {
+            r(i) = std::exp(-r(i)*r(i)/(2*p*p));
+        }
+    }
+
+    /// @param Residuals
+    /// @param Parameter
+    void autowelsch_weight(Eigen::VectorXd& r, double p) {
+        double median;
+        igl::median(r, median);
+        welsch_weight(r, p*median/(std::sqrt(2)*2.3));
+        //welsch_weight(r,p);
+    }
+
+    /// Energy functions
+    /// @param Residuals
+    /// @param Parameter
+    double uniform_energy(Eigen::VectorXd& r) {
+        double energy = 0;
+        for (int i = 0; i<r.rows(); ++i) {
+            energy += r(i)*r(i);
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double pnorm_energy(Eigen::VectorXd& r, double p, double reg = 1e-8) {
+        double energy = 0;
+        for (int i = 0; i<r.rows(); ++i) {
+            energy += (r(i)*r(i))*p / (std::pow(r(i), 2 - p) + reg);
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double tukey_energy(Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        double w;
+        for (int i = 0; i<r.rows(); ++i) {
+            if (r(i) > p) w = 0.0;
+            else w = std::pow((1.0 - std::pow(r(i) / p, 2.0)), 2.0);
+
+            energy += (r(i)*r(i))*w;
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double fair_energy(Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        for (int i = 0; i<r.rows(); ++i) {
+            energy += (r(i)*r(i))*1.0 / (1.0 + r(i) / p);
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double logistic_energy(Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        for (int i = 0; i<r.rows(); ++i) {
+            energy += (r(i)*r(i))*(p / r(i))*std::tanh(r(i) / p);
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double trimmed_energy(Eigen::VectorXd& r, double p) {
+        std::vector<std::pair<int, double> > sortedDist(r.rows());
+        for (int i = 0; i<r.rows(); ++i) {
+            sortedDist[i] = std::pair<int, double>(i, r(i));
+        }
+        std::sort(sortedDist.begin(), sortedDist.end(), sort_pred());
+        Eigen::VectorXd t = r;
+        t.setZero();
+        double energy = 0;
+        int nbV = r.rows()*p;
+        for (int i = 0; i<nbV; ++i) {
+            energy += r(i)*r(i);
+        }
+        return energy;
+    }
+
+    /// @param Residuals
+    /// @param Parameter
+    double welsch_energy(Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        for (int i = 0; i<r.rows(); ++i) {
+            energy += 1.0 - std::exp(-r(i)*r(i)/(2*p*p));
+        }
+        return energy;
+    }
+    /// @param Residuals
+    /// @param Parameter
+    double autowelsch_energy(Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        energy = welsch_energy(r, 0.5);
+        return energy;
+    }
+    /// @param Function type
+    /// @param Residuals
+    /// @param Parameter
+    void robust_weight(Function f, Eigen::VectorXd& r, double p) {
+        switch (f) {
+        case PNORM: pnorm_weight(r, p); break;
+        case TUKEY: tukey_weight(r, p); break;
+        case FAIR: fair_weight(r, p); break;
+        case LOGISTIC: logistic_weight(r, p); break;
+        case TRIMMED: trimmed_weight(r, p); break;
+        case WELSCH: welsch_weight(r, p); break;
+        case AUTOWELSCH: autowelsch_weight(r,p); break;
+        case NONE: uniform_weight(r); break;
+        default: uniform_weight(r); break;
+        }
+    }
+
+    //Cacl energy
+    double get_energy(Function f, Eigen::VectorXd& r, double p) {
+        double energy = 0;
+        switch (f) {
+            //case PNORM: pnorm_weight(r,p); break;
+        case TUKEY: energy = tukey_energy(r, p); break;
+        case FAIR: energy = fair_energy(r, p); break;
+        case LOGISTIC: energy = logistic_energy(r, p); break;
+        case TRIMMED: energy = trimmed_energy(r, p); break;
+        case WELSCH: energy = welsch_energy(r, p); break;
+        case AUTOWELSCH: energy = autowelsch_energy(r, p); break;
+        case NONE: energy = uniform_energy(r); break;
+        default: energy = uniform_energy(r); break;
+        }
+        return energy;
+    }
+}
+    namespace AAICP{
+        typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
+            typedef Eigen::Matrix<Scalar, 6, 1> Vector6;
+            typedef Eigen::Matrix<Scalar, 3, 3> Matrix3;
+            typedef Eigen::Matrix<Scalar, 4, 4> Matrix4;
+            typedef Eigen::Matrix<Scalar, Eigen::Dynamic, 1> VectorX;
+            typedef Eigen::Matrix<Scalar, 6, Eigen::Dynamic> Matrix6X;
+
+            ///aaicp
+            ///////////////////////////////////////////////////////////////////////////////////////////
+            Vector6 Matrix42Vector6 (const Matrix4 m)
+            {
+              Vector6 v;
+              Matrix3 s = m.block(0,0,3,3);
+              v.head(3) = s.eulerAngles(0, 1, 2);
+              v.tail(3) = m.col(3).head(3);
+              return v;
+            }
+
+            ///////////////////////////////////////////////////////////////////////////////////////////
+            Matrix4 Vector62Matrix4 (const Vector6 v)
+            {
+              Matrix3 s (Eigen::AngleAxis<Scalar>(v(0), Vector3::UnitX())
+                * Eigen::AngleAxis<Scalar>(v(1), Vector3::UnitY())
+                * Eigen::AngleAxis<Scalar>(v(2), Vector3::UnitZ()));
+              Matrix4 m = Matrix4::Zero();
+              m.block(0,0,3,3) = s;
+              m(3,3) = 1;
+              m.col(3).head(3) = v.tail(3);
+              return m;
+            }
+
+            ///////////////////////////////////////////////////////////////////////////////////////////
+            int alphas_cond (VectorX alphas)
+            {
+              double alpha_limit_min_ = -10;
+              double alpha_limit_max_ = 10;
+              return alpha_limit_min_ < alphas.minCoeff() && alphas.maxCoeff() < alpha_limit_max_ && alphas(alphas.size()-1) > 0;
+            }
+
+            ///////////////////////////////////////////////////////////////////////////////////////////
+            VectorX get_alphas_lstsq (const Matrix6X f)
+            {
+              Matrix6X A = f.leftCols(f.cols()-1);
+              A *= -1;
+              A += f.rightCols(1) * VectorX::Constant(f.cols()-1, 1).transpose();
+              VectorX sol = A.colPivHouseholderQr().solve(f.rightCols(1));
+              sol.conservativeResize(sol.size()+1);
+              sol[sol.size()-1] = 0;
+              sol[sol.size()-1] = 1-sol.sum();
+              return sol;
+            }
+
+            ///////////////////////////////////////////////////////////////////////////////////////////
+            VectorX get_next_u (const Matrix6X u, const Matrix6X g, const Matrix6X f, std::vector<double> & save_alphas)
+            {
+              int i = 1;
+              double beta_ = 1.0;
+              save_alphas.clear();
+              Vector6 sol = ((1-beta_)*u.col(u.cols()-1) + beta_*g.col(g.cols()-1));
+              VectorX sol_alphas(1);
+              sol_alphas << 1;
+
+              i = 2;
+              for (; i <= f.cols(); i++)
+              {
+                VectorX alphas = get_alphas_lstsq(f.rightCols(i));
+                if (!alphas_cond(alphas))
+                {
+                    break;
+                }
+                sol = (1-beta_)*u.rightCols(i)*alphas + beta_*g.rightCols(i)*alphas;
+                sol_alphas = alphas;
+              }
+              for(int i= 0; i<sol_alphas.rows(); i++)
+              {
+                  save_alphas.push_back(sol_alphas[i]);
+              }
+              return sol;
+            }
+
+
+            template <typename Derived1, typename Derived2, typename Derived3>
+            void point_to_point_aaicp(Eigen::MatrixBase<Derived1>& X,Eigen::MatrixBase<Derived2>& Y, Eigen::MatrixBase<Derived3>& source_mean,
+                               Eigen::MatrixBase<Derived3>& target_mean,
+                ICP::Parameters& par) {
+                /// Build kd-tree
+                nanoflann::KDTreeAdaptor<Eigen::MatrixBase<Derived2>, 3, nanoflann::metric_L2_Simple> kdtree(Y);
+                /// Buffers
+                Eigen::Matrix3Xd Q = Eigen::Matrix3Xd::Zero(3, X.cols());
+                Eigen::VectorXd W = Eigen::VectorXd::Zero(X.cols());
+                Eigen::Matrix3Xd ori_X = X;
+
+                double prev_energy = std::numeric_limits<double>::max(), energy = std::numeric_limits<double>::max();
+                Eigen::Affine3d T;
+                if(par.use_init)
+                {
+                    T.linear() = par.init_trans.block(0,0,3,3);
+                    T.translation() = par.init_trans.block(0,3,3,1);
+                }
+                else
+                    T = Eigen::Affine3d::Identity();
+                Eigen::Matrix3Xd X_gt = X;
+                ///stop criterion paras
+                MatrixXX To1 =T.matrix();
+                MatrixXX To2 = T.matrix();
+
+                 ///AA paras
+                 Matrix6X u(6,0), g(6,0), f(6,0);
+                 Vector6 u_next, u_k;
+                 Matrix4 transformation = Matrix4::Identity();
+                 Matrix4 final_transformation = Matrix4::Identity();
+
+                 ///output para
+                 std::vector<double> times, energys, gt_mses;
+                 double gt_mse;
+                 double begin_time, end_time, run_time;
+                 begin_time = omp_get_wtime();
+
+                 ///output coeffs
+                 std::vector<std::vector<double>> coeffs;
+                 coeffs.clear();
+                 std::vector<double> alphas;
+
+                 X = T * X;
+                 ///groud truth target point cloud
+                 if(par.has_groundtruth)
+                 {
+                     Eigen::Vector3d temp_trans = par.gt_trans.block(0, 3, 3, 1);
+                     X_gt = ori_X;
+                     X_gt.colwise() += source_mean;
+                     X_gt = par.gt_trans.block(0, 0, 3, 3) * X_gt;
+                     X_gt.colwise() += temp_trans - target_mean;
+                 }
+
+                 ///begin ICP
+                 int icp = 0;
+                 for (; icp<par.max_icp; ++icp)
+                 {
+                     bool accept_aa = false;
+                     int nPoints = X.cols();
+                     end_time = omp_get_wtime();
+                     run_time = end_time - begin_time;
+                     /// Find closest point
+         #pragma omp parallel for
+                     for (int i = 0; i<nPoints; ++i) {
+                         Q.col(i) = Y.col(kdtree.closest(X.col(i).data()));
+                     }
+
+                     ///calc time
+
+                     times.push_back(run_time);
+                     if(par.has_groundtruth)
+                     {
+                         gt_mse = pow((X - X_gt).norm(),2) / nPoints;
+                     }
+                     gt_mses.push_back(gt_mse);
+
+                     /// Computer rotation and translation
+                     /// Compute weights
+                     W = (X - Q).colwise().norm();
+                     robust_weight(par.f, W, par.p);
+
+                     /// Rotation and translation update
+                     T = RigidMotionEstimator::point_to_point(X, Q, W) * T;
+                     final_transformation = T.matrix();
+
+                     ///Anderson acceleration
+                     if(icp)
+                     {
+                         Vector6 g_k = Matrix42Vector6(transformation * final_transformation);
+                         // Calculate energy
+                         W = (X - Q).colwise().norm();
+                         energy = get_energy(par.f, W, par.p);
+
+                         ///The first heuristic
+                         if ((energy - prev_energy)/prev_energy > par.error_overflow_threshold_) {
+                             u_next = u_k = g.rightCols(1);
+                             prev_energy = std::numeric_limits<double>::max();
+                             u = u.rightCols(2);
+                             g = g.rightCols(1);
+                             f = f.rightCols(1);
+                         }
+                         else
+                         {
+                             prev_energy = energy;
+
+                             g.conservativeResize(g.rows(),g.cols()+1);
+                             g.col(g.cols()-1) = g_k;
+
+                             Vector6 f_k = g_k - u_k;
+                             f.conservativeResize(f.rows(),f.cols()+1);
+                             f.col(f.cols()-1) = f_k;
+
+                             u_next = get_next_u(u, g, f, alphas);
+                             u.conservativeResize(u.rows(),u.cols()+1);
+                             u.col(u.cols()-1) = u_next;
+
+                             u_k = u_next;
+                             accept_aa = true;
+                         }
+                     }
+                     ///init
+                     else
+                     {
+                         // Calculate energy
+                         W = (X - Q).colwise().norm();
+                         prev_energy = get_energy(par.f, W, par.p);
+                         Vector6 u0 = Matrix42Vector6(Matrix4::Identity());
+                         u.conservativeResize(u.rows(),u.cols()+1);
+                         u.col(0)=u0;
+
+                         Vector6 u1 = Matrix42Vector6(transformation * final_transformation);
+                         g.conservativeResize(g.rows(),g.cols()+1);
+                         g.col(0)=u1;
+
+                         u.conservativeResize(u.rows(),u.cols()+1);
+
+                         u.col(1)=u1;
+
+                         f.conservativeResize(f.rows(),f.cols()+1);
+                         f.col(0)=u1 - u0;
+
+                         u_next = u1;
+                         u_k = u1;
+
+                         energy = prev_energy;
+                     }
+
+                     transformation = Vector62Matrix4(u_next)*(final_transformation.inverse());
+                     final_transformation = Vector62Matrix4(u_next);
+                     X = final_transformation.block(0,0,3,3) * ori_X;
+                     Vector3 trans = final_transformation.block(0,3,3,1);
+                     X.colwise() += trans;
+
+                     energys.push_back(energy);
+
+                     if (par.print_energy)
+                         std::cout << "icp iter = " << icp << ", Energy = " << energy << ", gt_mse = " << gt_mse<< std::endl;
+
+                     /// Stopping criteria
+                     double stop2 = (final_transformation - To2).norm();
+                     To2 = final_transformation;
+                     if (stop2 < par.stop && icp) break;
+                 }
+
+                 W = (X - Q).colwise().norm();
+                 double last_energy = get_energy(par.f, W, par.p);
+                 gt_mse = pow((X - X_gt).norm(),2) / X.cols();
+
+                 final_transformation.block(0,3,3,1) += -final_transformation.block(0, 0, 3, 3)*source_mean + target_mean;
+                 X.colwise() += target_mean;
+
+                 ///save convergence result
+                 par.convergence_energy = last_energy;
+                 par.convergence_gt_mse = gt_mse;
+                 par.convergence_iter = icp;
+                 par.res_trans = final_transformation;
+
+                 ///output
+                 if (par.print_output)
+                 {
+                     std::ofstream out_res(par.out_path);
+                     if (!out_res.is_open())
+                     {
+                         std::cout << "Can't open out file " << par.out_path << std::endl;
+                     }
+                     ///output time and energy
+                     out_res.precision(16);
+                     for (int i = 0; i<icp; i++)
+                     {
+                         out_res << times[i] << " " << energys[i] <<" " << gt_mses[i] << std::endl;
+                     }
+                     out_res.close();
+                 }
+    }
+    }
+#endif

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2020 yaoyuxin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1,3 +1,96 @@
----
-license: mit
----
+# Fast-Robust-ICP
+
+This repository includes the source code the paper [Fast and Robust Iterative Closet Point](https://arxiv.org/abs/2007.07627).
+
+Authors: [Juyong Zhang](http://staff.ustc.edu.cn/~juyong/), [Yuxin Yao](https://yaoyx689.github.io/), [Bailin Deng](http://www.bdeng.me/).
+
+This code was written by Yuxin Yao. If you have questions, please contact yaoyuxin@mail.ustc.edu.cn. 
+
+
+## Compilation
+
+The code is compiled using [CMake](https://cmake.org/) and requires [Eigen](https://eigen.tuxfamily.org/). It has been tested on Ubuntu 16.04 with gcc 5.4.0 and on Windows with Visual Studio 2015. 
+
+Follow the following steps to compile the code:
+
+1) Make sure Eigen is installed. We recommend version 3.3+.
+	- Download Eigen from eigen.tuxfamily.org and extract it 
+	into a folder 'eigen' within the 'include' folder. Make sure the files 'include/eigen/Eigen/Dense' and 'include/eigen/unsupported/Eigen/MatrixFunctions' can be found 
+	- Alternatively: On Ubuntu, use the command "apt-get install libeigen3-dev" to install Eigen. 
+
+2) Create a build folder 'build' within the root directory of the code
+
+3) Run cmake to generate the build files inside the build folder, and compile the source code:
+    - On linux, run the following commands within the build folder:
+    ```
+   $ cmake -DCMAKE_BUILD_TYPE=Release ..
+   $ make
+    ```
+    - On windows, use the cmake GUI to generate a visual studio solution file, and build the solution.
+
+4) Afterwards, there should be an exectuable file 'FRICP' generated.
+
+## Usage
+
+The program is run with four input parameters:
+
+1. an input file storing the source point cloud;
+2. an input file storing the target point cloud;
+3. an output path storing the registered source point cloud and transformation;
+4. registration method:
+```
+0: ICP
+1: AA-ICP
+2: Ours (Fast ICP)
+3: Ours (Robust ICP)
+4: ICP Point-to-plane
+5: Our (Robust ICP point-to-plane)
+6: Sparse ICP
+7: Sparse ICP point-to-plane
+```
+You can ignore the last parameter, in which case `Ours (Robust ICP)` will be used by default. 
+
+Example:
+```
+$ ./FRICP ./data/target.ply ./data/source.ply ./data/res/ 3
+```
+But obj and ply (Non-binary encoding) files are supported.
+
+### Initialization support 
+If you have an initial transformation that can be applied on the input source model to roughly align with the input target model, you can set `use_init=true` and set `file_init` to the initial file name in `main.cpp` . The format of the initial transformation is a 4x4 matrix(`[R, t; 0, 1]`), where `R` is a 3x3 rotation matrix and `t` is a 3x1 translation vector. These numbers are stored in 4 rows, and separated by spaces in each row. This format is the same as the output transformation of this code. It is worth mentioning that this code will align the center of gravity of the initial source and target models by default before starting the registration process, but this operation will be no longer used when the initial transformation is provided. In our experiment, we directly use the output file of transformation matrix generated by [Super4PCS](https://github.com/nmellado/Super4PCS) as the initial file.
+
+### Note
+If the source model and the target model have a good initial alignment, you can replace the contents (in the lines 63-67 of ``main.cpp``)
+```
+VectorN source_mean, target_mean;
+source_mean = vertices_source.rowwise().sum() / double(vertices_source.cols());
+target_mean = vertices_target.rowwise().sum() / double(vertices_target.cols());
+vertices_source.colwise() -= source_mean;
+vertices_target.colwise() -= target_mean;
+```
+with
+```
+VectorN source_mean(0,0,0), target_mean(0,0,0);
+```
+This modification is more suitable for examples with low overlap rates.
+
+
+## Citation
+
+Please cite the following papers if it helps your research:
+
+```
+@article{zhang2021fast,
+  author={Juyong Zhang and Yuxin Yao and Bailin Deng},
+  title={Fast and Robust Iterative Closest Point}, 
+  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence}, 
+  year={2022},
+  volume={44},
+  number={7},
+  pages={3450-3466}}
+```
+
+
+
+## Acknowledgements
+The code is adapted from the [Sparse ICP implementation](https://github.com/OpenGP/sparseicp) released by the authors.

Types.h

@@ -0,0 +1,121 @@
+#ifndef TYPES_H
+#define TYPES_H
+
+#include <eigen/Eigen/Dense>
+
+#ifdef USE_FLOAT_SCALAR
+typedef float Scalar
+#else
+typedef double Scalar;
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+#define EIGEN_ALIGNMENT Eigen::DontAlign
+#else
+#define EIGEN_ALIGNMENT Eigen::AutoAlign
+#endif
+
+
+template < int Rows, int Cols, int Options = (Eigen::ColMajor | EIGEN_ALIGNMENT) >
+using MatrixT = Eigen::Matrix<Scalar, Rows, Cols, Options>; ///< A typedef of the dense matrix of Eigen.
+typedef MatrixT<2, 1> Vector2;								///< A 2d column vector.
+typedef MatrixT<2, 2> Matrix22;								///< A 2 by 2 matrix.
+typedef MatrixT<2, 3> Matrix23;								///< A 2 by 3 matrix.
+typedef MatrixT<3, 1> Vector3;								///< A 3d column vector.
+typedef MatrixT<3, 2> Matrix32;								///< A 3 by 2 matrix.
+typedef MatrixT<3, 3> Matrix33;								///< A 3 by 3 matrix.
+typedef MatrixT<3, 4> Matrix34;								///< A 3 by 4 matrix.
+typedef MatrixT<4, 1> Vector4;								///< A 4d column vector.
+typedef MatrixT<4, 4> Matrix44;								///< A 4 by 4 matrix.
+typedef MatrixT<4, Eigen::Dynamic> Matrix4X;				///< A 4 by n matrix.
+typedef MatrixT<3, Eigen::Dynamic> Matrix3X;				///< A 3 by n matrix.
+typedef MatrixT<Eigen::Dynamic, 3> MatrixX3;				///< A n by 3 matrix.
+typedef MatrixT<2, Eigen::Dynamic> Matrix2X;				///< A 2 by n matrix.
+typedef MatrixT<Eigen::Dynamic, 2> MatrixX2;				///< A n by 2 matrix.
+typedef MatrixT<Eigen::Dynamic, 1> VectorX;					///< A nd column vector.
+typedef MatrixT<Eigen::Dynamic, Eigen::Dynamic> MatrixXX;	///< A n by m matrix.
+typedef Eigen::Matrix<Scalar, 12, 12, 0, 12, 12> EigenMatrix12;
+
+// eigen quaternions
+typedef Eigen::AngleAxis<Scalar> EigenAngleAxis;
+typedef Eigen::Quaternion<Scalar, Eigen::DontAlign> EigenQuaternion;
+
+// Conversion between a 3d vector type to Eigen::Vector3d
+template<typename Vec_T>
+inline Vector3 to_eigen_vec3(const Vec_T &vec)
+{
+    return Vector3(vec[0], vec[1], vec[2]);
+}
+
+
+template<typename Vec_T>
+inline Vec_T from_eigen_vec3(const Vector3 &vec)
+{
+    Vec_T v;
+    v[0] = vec(0);
+    v[1] = vec(1);
+    v[2] = vec(2);
+
+    return v;
+}
+
+
+class Matrix3333 // 3x3 matrix: each element is a 3x3 matrix
+{
+public:
+    Matrix3333();
+    Matrix3333(const Matrix3333& other);
+    ~Matrix3333() {}
+
+    void SetZero(); // [0 0 0; 0 0 0; 0 0 0]; 0 = 3x3 zeros
+    void SetIdentity(); //[I 0 0; 0 I 0; 0 0 I]; 0 = 3x3 zeros, I = 3x3 identity
+
+    // operators
+    Matrix33& operator() (int row, int col);
+    Matrix3333 operator+ (const Matrix3333& plus);
+    Matrix3333 operator- (const Matrix3333& minus);
+    Matrix3333 operator* (const Matrix33& multi);
+    friend Matrix3333 operator* (const Matrix33& multi1, Matrix3333& multi2);
+    Matrix3333 operator* (Scalar multi);
+    friend Matrix3333 operator* (Scalar multi1, Matrix3333& multi2);
+    Matrix3333 transpose();
+    Matrix33 Contract(const Matrix33& multi); // this operator is commutative
+    Matrix3333 Contract(Matrix3333& multi);
+
+//protected:
+
+    Matrix33 mat[3][3];
+};
+
+class Matrix2222 // 2x2 matrix: each element is a 2x2 matrix
+{
+public:
+    Matrix2222();
+    Matrix2222(const Matrix2222& other);
+    ~Matrix2222() {}
+
+    void SetZero(); // [0 0; 0 0]; 0 = 2x2 zeros
+    void SetIdentity(); //[I 0; 0 I;]; 0 = 2x2 zeros, I = 2x2 identity
+
+    // operators and basic functions
+    Matrix22& operator() (int row, int col);
+    Matrix2222 operator+ (const Matrix2222& plus);
+    Matrix2222 operator- (const Matrix2222& minus);
+    Matrix2222 operator* (const Matrix22& multi);
+    friend Matrix2222 operator* (const Matrix22& multi1, Matrix2222& multi2);
+    Matrix2222 operator* (Scalar multi);
+    friend Matrix2222 operator* (Scalar multi1, Matrix2222& multi2);
+    Matrix2222 transpose();
+    Matrix22 Contract(const Matrix22& multi); // this operator is commutative
+    Matrix2222 Contract(Matrix2222& multi);
+
+protected:
+
+    Matrix22 mat[2][2];
+};
+
+// dst = src1 \kron src2
+void directProduct(Matrix3333& dst, const Matrix33& src1, const Matrix33& src2);
+void directProduct(Matrix2222& dst, const Matrix22& src1, const Matrix22& src2);
+#endif // TYPES_H
+///////////////////////////////////////////////////////////////////////////////

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+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif

build/CMakeFiles/3.26.0/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,855 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if !defined(__has_include)
+/* If the compiler does not have __has_include, pretend the answer is
+   always no.  */
+#  define __has_include(x) 0
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP prior to 2021, and then VVVV for 2021 and later,
+     except that a few beta releases use the old format with V=2021.  */
+# if __INTEL_COMPILER < 2021 || __INTEL_COMPILER == 202110 || __INTEL_COMPILER == 202111
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+#  if defined(__INTEL_COMPILER_UPDATE)
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+#  else
+#   define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+#  endif
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER)
+#  define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER_UPDATE)
+   /* The third version component from --version is an update index,
+      but no macro is provided for it.  */
+#  define COMPILER_VERSION_PATCH DEC(0)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+   /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif (defined(__clang__) && defined(__INTEL_CLANG_COMPILER)) || defined(__INTEL_LLVM_COMPILER)
+# define COMPILER_ID "IntelLLVM"
+#if defined(_MSC_VER)
+# define SIMULATE_ID "MSVC"
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_ID "GNU"
+#endif
+/* __INTEL_LLVM_COMPILER = VVVVRP prior to 2021.2.0, VVVVRRPP for 2021.2.0 and
+ * later.  Look for 6 digit vs. 8 digit version number to decide encoding.
+ * VVVV is no smaller than the current year when a version is released.
+ */
+#if __INTEL_LLVM_COMPILER < 1000000L
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER    % 10)
+#else
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_LLVM_COMPILER/10000)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_LLVM_COMPILER/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_LLVM_COMPILER     % 100)
+#endif
+#if defined(_MSC_VER)
+  /* _MSC_VER = VVRR */
+# define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+#endif
+#if defined(__GNUC__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#elif defined(__GNUG__)
+# define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+#endif
+#if defined(__GNUC_MINOR__)
+# define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#endif
+#if defined(__GNUC_PATCHLEVEL__)
+# define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
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+        "100_20"
+    ],
+    "lightbulb_75_lying": [
+        "75_1",
+        "75_2",
+        "75_3",
+        "75_4",
+        "75_5",
+        "75_6",
+        "75_7",
+        "75_8",
+        "75_9",
+        "75_10",
+        "75_11",
+        "75_18",
+        "75_19",
+        "75_20"
+    ],
+    "lightbulb_50_lying": [
+        "50_4",
+        "50_5",
+        "50_6",
+        "50_7",
+        "50_8",
+        "50_9",
+        "50_10",
+        "50_11",
+        "50_12",
+        "50_20",
+        "50_21"
+    ],
+    "lightbulb_25_lying": [
+        "25_9",
+        "25_10",
+        "25_11",
+        "25_12",
+        "25_13",
+        "25_14",
+        "25_15",
+        "25_16",
+        "25_17",
+        "25_18",
+        "25_19",
+        "25_20",
+        "25_21"
+    ],
+    "lightbulb_0_lying": [
+        "0_1",
+        "0_2",
+        "0_3",
+        "0_4",
+        "0_5",
+        "0_6",
+        "0_7",
+        "0_8",
+        "0_9",
+        "0_10",
+        "0_11",
+        "0_12"
+    ],
+    "lighter_100_lying": [
+        "100_13",
+        "100_14",
+        "100_15",
+        "100_16",
+        "100_17",
+        "100_18",
+        "100_19",
+        "100_20",
+        "100_21"
+    ],
+    "lighter_75_lying": [
+        "75_12",
+        "75_13",
+        "75_14",
+        "75_15",
+        "75_16",
+        "75_17",
+        "75_18",
+        "75_19",
+        "75_20",
+        "75_21"
+    ],
+    "lighter_50_lying": [
+        "50_1",
+        "50_2",
+        "50_3",
+        "50_4",
+        "50_5",
+        "50_6",
+        "50_7",
+        "50_8",
+        "50_9",
+        "50_10",
+        "50_11"
+    ],
+    "lighter_25_lying": [
+        "25_12",
+        "25_13",
+        "25_14",
+        "25_15",
+        "25_16",
+        "25_17",
+        "25_18",
+        "25_19",
+        "25_20",
+        "25_21"
+    ],
+    "lighter_0_lying": [
+        "0_13",
+        "0_14",
+        "0_15",
+        "0_16",
+        "0_17",
+        "0_18",
+        "0_19"
+    ],
+    "lighter_100_standing": [
+        "100_1",
+        "100_2",
+        "100_3",
+        "100_4",
+        "100_5",
+        "100_6",
+        "100_7",
+        "100_8",
+        "100_9",
+        "100_10",
+        "100_11",
+        "100_12"
+    ],
+    "lighter_75_standing": [
+        "75_1",
+        "75_2",
+        "75_3",
+        "75_4",
+        "75_5",
+        "75_6",
+        "75_7",
+        "75_8",
+        "75_9",
+        "75_10",
+        "75_11"
+    ],
+    "lighter_50_standing": [
+        "50_12",
+        "50_13",
+        "50_14",
+        "50_15",
+        "50_16",
+        "50_17",
+        "50_18",
+        "50_19",
+        "50_20",
+        "50_21"
+    ],
+    "lighter_25_standing": [
+        "25_1",
+        "25_2",
+        "25_3",
+        "25_4",
+        "25_5",
+        "25_6",
+        "25_7",
+        "25_8",
+        "25_9",
+        "25_10",
+        "25_11"
+    ],
+    "lighter_0_standing": [
+        "0_1",
+        "0_2",
+        "0_3",
+        "0_4",
+        "0_5",
+        "0_6",
+        "0_7",
+        "0_8",
+        "0_9",
+        "0_10",
+        "0_11",
+        "0_12"
+    ],
+    "magnifying_glass_100_standing": [
+        "100_12",
+        "100_13",
+        "100_14",
+        "100_15",
+        "100_16",
+        "100_17"
+    ],
+    "magnifying_glass_75_standing": [
+        "75_12",
+        "75_13",
+        "75_14",
+        "75_15",
+        "75_16",
+        "75_17",
+        "75_18",
+        "75_19",
+        "75_20"
+    ],
+    "magnifying_glass_50_standing": [
+        "50_14",
+        "50_15",
+        "50_16",
+        "50_17",
+        "50_18",
+        "50_19"
+    ],
+    "magnifying_glass_25_standing": [
+        "25_13",
+        "25_14",
+        "25_15",
+        "25_16",
+        "25_17"
+    ],
+    "magnifying_glass_0_standing": [
+        "0_3",
+        "0_4",
+        "0_5",
+        "0_6",
+        "0_8",
+        "0_15"
+    ],
+    "magnifying_glass_100_lying": [
+        "100_1",
+        "100_2",
+        "100_3",
+        "100_4",
+        "100_5",
+        "100_6",
+        "100_7",
+        "100_8",
+        "100_9",
+        "100_10",
+        "100_11",
+        "100_18",
+        "100_19",
+        "100_20",
+        "100_21"
+    ],
+    "magnifying_glass_75_lying": [
+        "75_1",
+        "75_2",
+        "75_3",
+        "75_4",
+        "75_5",
+        "75_6",
+        "75_7",
+        "75_8",
+        "75_9",
+        "75_10",
+        "75_11"
+    ],
+    "magnifying_glass_50_lying": [
+        "50_1",
+        "50_2",
+        "50_3",
+        "50_4",
+        "50_5",
+        "50_6",
+        "50_7",
+        "50_8",
+        "50_9",
+        "50_10",
+        "50_11",
+        "50_12",
+        "50_13",
+        "50_20",
+        "50_21"
+    ],
+    "magnifying_glass_25_lying": [
+        "25_1",
+        "25_2",
+        "25_3",
+        "25_4",
+        "25_5",
+        "25_6",
+        "25_7",
+        "25_8",
+        "25_9",
+        "25_10",
+        "25_11",
+        "25_12",
+        "25_18",
+        "25_19",
+        "25_20",
+        "25_21"
+    ],
+    "magnifying_glass_0_lying": [
+        "0_10",
+        "0_11",
+        "0_12",
+        "0_13",
+        "0_14",
+        "0_1",
+        "0_2",
+        "0_7",
+        "0_16",
+        "0_17",
+        "0_18",
+        "0_19"
+    ],
+    "spray_100_standing": [
+        "100_1",
+        "100_2",
+        "100_3",
+        "100_4",
+        "100_5",
+        "100_6",
+        "100_7",
+        "100_8",
+        "100_9",
+        "100_10",
+        "100_11"
+    ],
+    "spray_75_standing": [
+        "75_1",
+        "75_2",
+        "75_3",
+        "75_4",
+        "75_5",
+        "75_6",
+        "75_7",
+        "75_8",
+        "75_9",
+        "75_10",
+        "75_11"
+    ],
+    "spray_50_standing": [
+        "50_1",
+        "50_2",
+        "50_3",
+        "50_4",
+        "50_5",
+        "50_6",
+        "50_7",
+        "50_8",
+        "50_9",
+        "50_10",
+        "50_11"
+    ],
+    "spray_25_standing": [
+        "25_1",
+        "25_2",
+        "25_3",
+        "25_4",
+        "25_5",
+        "25_6",
+        "25_7",
+        "25_8",
+        "25_9",
+        "25_10",
+        "25_11"
+    ],
+    "spray_0_standing": [
+        "0_1",
+        "0_2",
+        "0_3",
+        "0_4",
+        "0_5",
+        "0_6",
+        "0_7",
+        "0_8",
+        "0_9",
+        "0_10"
+    ],
+    "spray_100_lying": [
+        "100_12",
+        "100_13",
+        "100_14",
+        "100_15",
+        "100_16",
+        "100_17",
+        "100_18",
+        "100_19",
+        "100_20"
+    ],
+    "spray_75_lying": [
+        "75_12",
+        "75_13",
+        "75_14",
+        "75_15",
+        "75_16",
+        "75_17",
+        "75_18",
+        "75_19",
+        "75_20",
+        "75_21"
+    ],
+    "spray_50_lying": [
+        "50_12",
+        "50_13",
+        "50_14",
+        "50_15",
+        "50_16",
+        "50_17",
+        "50_18",
+        "50_19",
+        "50_20"
+    ],
+    "spray_25_lying": [
+        "25_12",
+        "25_13",
+        "25_14",
+        "25_15",
+        "25_16",
+        "25_17",
+        "25_18",
+        "25_19",
+        "25_20"
+    ],
+    "spray_0_lying": [
+        "0_11",
+        "0_12",
+        "0_13",
+        "0_14",
+        "0_15",
+        "0_16",
+        "0_17",
+        "0_18",
+        "0_19"
+    ]
+}

data/inference.ipynb

@@ -0,0 +1,178 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Source PCD"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Jupyter environment detected. Enabling Open3D WebVisualizer.\n",
+      "[Open3D INFO] WebRTC GUI backend enabled.\n",
+      "[Open3D INFO] WebRTCWindowSystem: HTTP handshake server disabled.\n",
+      "Source shape: (14806, 3)\n"
+     ]
+    }
+   ],
+   "source": [
+    "import open3d as o3d\n",
+    "import numpy as np\n",
+    "\n",
+    "source_path = \"source.ply\"\n",
+    "source_pcd = o3d.io.read_point_cloud(source_path)\n",
+    "\n",
+    "source_pcd_array = np.asarray(source_pcd.points)\n",
+    "print(\"Source shape:\", source_pcd_array.shape)\n",
+    "\n",
+    "o3d.visualization.draw_geometries([source_pcd])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Target PCD"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target shape: (15446, 3)\n"
+     ]
+    }
+   ],
+   "source": [
+    "target_path = \"target.ply\"\n",
+    "target_pcd = o3d.io.read_point_cloud(target_path)\n",
+    "\n",
+    "target_pcd_array = np.asarray(target_pcd.points)\n",
+    "print(\"Target shape:\", target_pcd_array.shape)\n",
+    "\n",
+    "o3d.visualization.draw_geometries([target_pcd])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Transformed Source PCD"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Transformed shape: (15446, 3)\n"
+     ]
+    }
+   ],
+   "source": [
+    "transformed_path = \"res/m3reg_pc.ply\"\n",
+    "transformed_pcd = o3d.io.read_point_cloud(transformed_path)\n",
+    "\n",
+    "transformed_pcd_array = np.asarray(transformed_pcd.points)\n",
+    "print(\"Transformed shape:\", transformed_pcd_array.shape)\n",
+    "\n",
+    "o3d.visualization.draw_geometries([transformed_pcd])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Source (Original) + Target"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "source_pcd.paint_uniform_color([1, 0, 0])\n",
+    "target_pcd.paint_uniform_color([0, 1, 0])\n",
+    "\n",
+    "vis = o3d.visualization.Visualizer()\n",
+    "vis.create_window(window_name=\"Point Cloud Viewer\", width=1200, height=800, visible=True)\n",
+    "vis.add_geometry(source_pcd)\n",
+    "vis.add_geometry(target_pcd)\n",
+    "\n",
+    "vis.run()\n",
+    "vis.destroy_window()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Transformed + Target"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "transformed_pcd.paint_uniform_color([1, 0, 0])\n",
+    "target_pcd.paint_uniform_color([0, 1, 0])\n",
+    "\n",
+    "vis = o3d.visualization.Visualizer()\n",
+    "vis.create_window(window_name=\"Point Cloud Viewer\", width=1200, height=800, visible=True)\n",
+    "vis.add_geometry(transformed_pcd)\n",
+    "vis.add_geometry(target_pcd)\n",
+    "\n",
+    "vis.run()\n",
+    "vis.destroy_window()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

data/object_data.json

@@ -0,0 +1,741 @@
+{
+    "bottle2": {
+        "100_standing": [
+            "100_1",
+            "100_2",
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7",
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11",
+            "100_12"
+        ],
+        "100_lying": [
+            "100_13",
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17",
+            "100_18",
+            "100_19",
+            "100_20"
+        ],
+        "75_staning": [
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11",
+            "75_12"
+        ],
+        "75_lying": [
+            "75_1",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17",
+            "75_18",
+            "75_19",
+            "75_20"
+        ],
+        "50_standing": [
+            "50_1",
+            "50_2",
+            "50_3",
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11",
+            "50_12"
+        ],
+        "50_lying": [
+            "50_13",
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19",
+            "50_20"
+        ],
+        "25_standing": [
+            "25_1",
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8",
+            "25_9",
+            "25_10",
+            "25_11"
+        ],
+        "25_lying": [
+            "25_12",
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17",
+            "25_18",
+            "25_19",
+            "25_20",
+            "25_21",
+            "25_22",
+            "25_23"
+        ],
+        "0_standing": [
+            "0_1",
+            "0_2",
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_7",
+            "0_8",
+            "0_9",
+            "0_10",
+            "0_11",
+            "0_12",
+            "0_13"
+        ],
+        "0_lying": [
+            "0_14",
+            "0_15",
+            "0_16",
+            "0_17",
+            "0_18",
+            "0_19"
+        ]
+    },
+    "glasses": {
+        "100_standing": [
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7",
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11",
+            "100_12",
+            "100_13"
+        ],
+        "100_lying": [
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17",
+            "100_18",
+            "100_19",
+            "100_20",
+            "100_21",
+            "100_1",
+            "100_2"
+        ],
+        "75_lying": [
+            "75_12",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17",
+            "75_18",
+            "75_19",
+            "75_20"
+        ],
+        "50_lying": [
+            "50_13",
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19",
+            "50_20",
+            "50_21"
+        ],
+        "25_lying": [
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17",
+            "25_18",
+            "25_19",
+            "25_20",
+            "25_21"
+        ],
+        "0_lying": [
+            "0_11",
+            "0_12",
+            "0_13",
+            "0_14",
+            "0_15",
+            "0_16",
+            "0_17",
+            "0_18",
+            "0_19"
+        ],
+        "75_standing": [
+            "75_1",
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11"
+        ],
+        "50_standing": [
+            "50_1",
+            "50_2",
+            "50_3",
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11",
+            "50_12"
+        ],
+        "25_standing": [
+            "25_1",
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8",
+            "25_9",
+            "25_10",
+            "25_11",
+            "25_12"
+        ],
+        "0_standing": [
+            "0_1",
+            "0_2",
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_7",
+            "0_8",
+            "0_9",
+            "0_10",
+            "0_11",
+            "0_12",
+            "0_13"
+        ]
+    },
+    "lightbulb": {
+        "100_standing": [
+            "100_2",
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7"
+        ],
+        "75_standing": [
+            "75_12",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17"
+        ],
+        "50_standing": [
+            "50_13",
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19",
+            "50_1",
+            "50_2",
+            "50_3"
+        ],
+        "25_standing": [
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8"
+        ],
+        "0_standing": [
+            "0_13",
+            "0_14",
+            "0_15",
+            "0_16"
+        ],
+        "100_lying": [
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11",
+            "100_12",
+            "100_13",
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17",
+            "100_18",
+            "100_19",
+            "100_20"
+        ],
+        "75_lying": [
+            "75_1",
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11",
+            "75_18",
+            "75_19",
+            "75_20"
+        ],
+        "50_lying": [
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11",
+            "50_12",
+            "50_20",
+            "50_21"
+        ],
+        "25_lying": [
+            "25_9",
+            "25_10",
+            "25_11",
+            "25_12",
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17",
+            "25_18",
+            "25_19",
+            "25_20",
+            "25_21"
+        ],
+        "0_lying": [
+            "0_1",
+            "0_2",
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_7",
+            "0_8",
+            "0_9",
+            "0_10",
+            "0_11",
+            "0_12"
+        ]
+    },
+    "lighter": {
+        "100_lying": [
+            "100_13",
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17",
+            "100_18",
+            "100_19",
+            "100_20",
+            "100_21"
+        ],
+        "75_lying": [
+            "75_12",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17",
+            "75_18",
+            "75_19",
+            "75_20",
+            "75_21"
+        ],
+        "50_lying": [
+            "50_1",
+            "50_2",
+            "50_3",
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11"
+        ],
+        "25_lying": [
+            "25_12",
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17",
+            "25_18",
+            "25_19",
+            "25_20",
+            "25_21"
+        ],
+        "0_lying": [
+            "0_13",
+            "0_14",
+            "0_15",
+            "0_16",
+            "0_17",
+            "0_18",
+            "0_19"
+        ],
+        "100_standing": [
+            "100_1",
+            "100_2",
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7",
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11",
+            "100_12"
+        ],
+        "75_standing": [
+            "75_1",
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11"
+        ],
+        "50_standing": [
+            "50_12",
+            "50_13",
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19",
+            "50_20",
+            "50_21"
+        ],
+        "25_standing": [
+            "25_1",
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8",
+            "25_9",
+            "25_10",
+            "25_11"
+        ],
+        "0_standing": [
+            "0_1",
+            "0_2",
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_7",
+            "0_8",
+            "0_9",
+            "0_10",
+            "0_11",
+            "0_12"
+        ]
+    },
+    "magnifying_glass": {
+        "100_standing": [
+            "100_12",
+            "100_13",
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17"
+        ],
+        "75_standing": [
+            "75_12",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17",
+            "75_18",
+            "75_19",
+            "75_20"
+        ],
+        "50_standing": [
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19"
+        ],
+        "25_standing": [
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17"
+        ],
+        "0_standing": [
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_8",
+            "0_15"
+        ],
+        "100_lying": [
+            "100_1",
+            "100_2",
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7",
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11",
+            "100_18",
+            "100_19",
+            "100_20",
+            "100_21"
+        ],
+        "75_lying": [
+            "75_1",
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11"
+        ],
+        "50_lying": [
+            "50_1",
+            "50_2",
+            "50_3",
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11",
+            "50_12",
+            "50_13",
+            "50_20",
+            "50_21"
+        ],
+        "25_lying": [
+            "25_1",
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8",
+            "25_9",
+            "25_10",
+            "25_11",
+            "25_12",
+            "25_18",
+            "25_19",
+            "25_20",
+            "25_21"
+        ],
+        "0_lying": [
+            "0_10",
+            "0_11",
+            "0_12",
+            "0_13",
+            "0_14",
+            "0_1",
+            "0_2",
+            "0_7",
+            "0_16",
+            "0_17",
+            "0_18",
+            "0_19"
+        ]
+    },
+    "spray": {
+        "100_standing": [
+            "100_1",
+            "100_2",
+            "100_3",
+            "100_4",
+            "100_5",
+            "100_6",
+            "100_7",
+            "100_8",
+            "100_9",
+            "100_10",
+            "100_11"
+        ],
+        "75_standing": [
+            "75_1",
+            "75_2",
+            "75_3",
+            "75_4",
+            "75_5",
+            "75_6",
+            "75_7",
+            "75_8",
+            "75_9",
+            "75_10",
+            "75_11"
+        ],
+        "50_standing": [
+            "50_1",
+            "50_2",
+            "50_3",
+            "50_4",
+            "50_5",
+            "50_6",
+            "50_7",
+            "50_8",
+            "50_9",
+            "50_10",
+            "50_11"
+        ],
+        "25_standing": [
+            "25_1",
+            "25_2",
+            "25_3",
+            "25_4",
+            "25_5",
+            "25_6",
+            "25_7",
+            "25_8",
+            "25_9",
+            "25_10",
+            "25_11"
+        ],
+        "0_standing": [
+            "0_1",
+            "0_2",
+            "0_3",
+            "0_4",
+            "0_5",
+            "0_6",
+            "0_7",
+            "0_8",
+            "0_9",
+            "0_10"
+        ],
+        "100_lying": [
+            "100_12",
+            "100_13",
+            "100_14",
+            "100_15",
+            "100_16",
+            "100_17",
+            "100_18",
+            "100_19",
+            "100_20"
+        ],
+        "75_lying": [
+            "75_12",
+            "75_13",
+            "75_14",
+            "75_15",
+            "75_16",
+            "75_17",
+            "75_18",
+            "75_19",
+            "75_20",
+            "75_21"
+        ],
+        "50_lying": [
+            "50_12",
+            "50_13",
+            "50_14",
+            "50_15",
+            "50_16",
+            "50_17",
+            "50_18",
+            "50_19",
+            "50_20"
+        ],
+        "25_lying": [
+            "25_12",
+            "25_13",
+            "25_14",
+            "25_15",
+            "25_16",
+            "25_17",
+            "25_18",
+            "25_19",
+            "25_20"
+        ],
+        "0_lying": [
+            "0_11",
+            "0_12",
+            "0_13",
+            "0_14",
+            "0_15",
+            "0_16",
+            "0_17",
+            "0_18",
+            "0_19"
+        ]
+    }
+}

data/ply_files.json

@@ -0,0 +1,7 @@
+{
+  "100": [],
+  "75": [],
+  "50": [],
+  "25": [],
+  "0": []
+}

data/stand.py

@@ -0,0 +1,88 @@
+import json
+import numpy as np
+
+# 데이터를 담은 딕셔너리 생성
+
+data_to_save = {
+    'bottle2_100_standing': ['100_1', '100_2', '100_3','100_4','100_5', '100_6', '100_7', '100_8','100_9','100_10','100_11','100_12'],
+    'bottle2_100_lying' : ['100_13', '100_14', '100_15','100_16','100_17', '100_18', '100_19', '100_20'],
+    'bottle2_75_staning' : ['75_2','75_3','75_4','75_5','75_6','75_7','75_8','75_9','75_10','75_11','75_12'],
+    'bottle2_75_lying' : ['75_1','75_13','75_14','75_15','75_16','75_17','75_18','75_19','75_20'],
+    'bottle2_50_standing' : ['50_1','50_2','50_3','50_4','50_5','50_6','50_7','50_8','50_9','50_10','50_11','50_12'],
+    'bottle2_50_lying' : ['50_13','50_14','50_15','50_16','50_17','50_18','50_19','50_20'],
+    'bottle2_25_standing' : ['25_1','25_2','25_3','25_4','25_5','25_6','25_7','25_8','25_9','25_10','25_11'],
+    'bottle2_25_lying' : ['25_12','25_13','25_14','25_15','25_16','25_17','25_18','25_19','25_20','25_21','25_22','25_23'],
+    'bottle2_0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12', '0_13'],
+    'bottle2_0_lying' : ['0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+
+
+    'glasses_100_standing' : ['100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_12', '100_13'],
+    'glasses_100_lying' : ['100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20', '100_21', '100_1', '100_2'],
+    'glasses_75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20'],
+    'glasses_50_lying' : ['50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20', '50_21'],
+    'glasses_25_lying' : ['25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    
+    'glasses_0_lying' : ['0_11', '0_12', '0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+    'glasses_75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    'glasses_50_standing' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12'],
+    'glasses_25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11', '25_12'],
+    'glasses_0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12', '0_13'],
+
+    'lightbulb_100_standing' : ['100_2', '100_3', '100_4', '100_5', '100_6', '100_7'],
+    'lightbulb_75_standing' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17'],
+    'lightbulb_50_standing' : ['50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_1', '50_2', '50_3'],
+    'lightbulb_25_standing' : ['25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8'],
+    'lightbulb_0_standing' : ['0_13', '0_14', '0_15', '0_16'],
+
+    'lightbulb_100_lying' : ['100_8', '100_9', '100_10', '100_11', '100_12', '100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20'],
+    'lightbulb_75_lying' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11', '75_18', '75_19', '75_20'],
+    'lightbulb_50_lying' : ['50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12', '50_20', '50_21'],
+    'lightbulb_25_lying' : ['25_9', '25_10', '25_11', '25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    'lightbulb_0_lying' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12'],
+
+    'lighter_100_lying' : ['100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20', '100_21'],
+    'lighter_75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20', '75_21'],
+    'lighter_50_lying' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11'],
+    'lighter_25_lying' : ['25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    'lighter_0_lying' : ['0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+
+    'lighter_100_standing' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_12'],
+    'lighter_75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    'lighter_50_standing' : ['50_12', '50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20', '50_21'],
+    'lighter_25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11'],
+    'lighter_0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12'],
+
+    'magnifying_glass_100_standing' : ['100_12', '100_13', '100_14', '100_15', '100_16', '100_17'],
+    'magnifying_glass_75_standing' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20'],
+    'magnifying_glass_50_standing' : ['50_14', '50_15', '50_16', '50_17', '50_18', '50_19'],
+    'magnifying_glass_25_standing' : ['25_13', '25_14', '25_15', '25_16', '25_17'],
+    'magnifying_glass_0_standing' : ['0_3', '0_4', '0_5', '0_6', '0_8', '0_15'],
+
+    'magnifying_glass_100_lying' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_18', '100_19', '100_20', '100_21'],
+    'magnifying_glass_75_lying' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    'magnifying_glass_50_lying' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12', '50_13', '50_20', '50_21'],
+    'magnifying_glass_25_lying' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11', '25_12', '25_18', '25_19', '25_20', '25_21'],
+    'magnifying_glass_0_lying' : ['0_10', '0_11', '0_12', '0_13', '0_14', '0_1', '0_2', '0_7', '0_16', '0_17', '0_18', '0_19'],
+
+    'spray_100_standing' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11'],
+    'spray_75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    'spray_50_standing' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11'],
+    'spray_25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11'],
+    'spray_0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10'],
+
+    'spray_100_lying' : ['100_12', '100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20'],
+    'spray_75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20', '75_21'],
+    'spray_50_lying' : ['50_12', '50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20'],
+    'spray_25_lying' : ['25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20'],
+    'spray_0_lying' : ['0_11', '0_12', '0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19']
+}
+
+
+# JSON 파일로 저장하기
+# 'w'는 쓰기 모드를 의미합니다.
+# indent=4 옵션은 JSON 파일을 예쁘게 정렬해줘서 가독성을 높입니다.
+with open('data.json', 'w', encoding='utf-8') as f:
+    json.dump(data_to_save, f, ensure_ascii=False, indent=4)
+
+print("data.json 파일이 성공적으로 저장되었습니다.")
+

data/stand2.py

@@ -0,0 +1,108 @@
+import json
+import numpy as np
+
+# 데이터를 담은 딕셔너리 생성
+
+bottle2 = {
+    '100_standing': ['100_1', '100_2', '100_3','100_4','100_5', '100_6', '100_7', '100_8','100_9','100_10','100_11','100_12'],
+    '100_lying' : ['100_13', '100_14', '100_15','100_16','100_17', '100_18', '100_19', '100_20'],
+    '75_staning' : ['75_2','75_3','75_4','75_5','75_6','75_7','75_8','75_9','75_10','75_11','75_12'],
+    '75_lying' : ['75_1','75_13','75_14','75_15','75_16','75_17','75_18','75_19','75_20'],
+    '50_standing' : ['50_1','50_2','50_3','50_4','50_5','50_6','50_7','50_8','50_9','50_10','50_11','50_12'],
+    '50_lying' : ['50_13','50_14','50_15','50_16','50_17','50_18','50_19','50_20'],
+    '25_standing' : ['25_1','25_2','25_3','25_4','25_5','25_6','25_7','25_8','25_9','25_10','25_11'],
+    '25_lying' : ['25_12','25_13','25_14','25_15','25_16','25_17','25_18','25_19','25_20','25_21','25_22','25_23'],
+    '0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12', '0_13'],
+    '0_lying' : ['0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+}
+
+glasses = {
+
+    '100_standing' : ['100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_12', '100_13'],
+    '100_lying' : ['100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20', '100_21', '100_1', '100_2'],
+    '75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20'],
+    '50_lying' : ['50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20', '50_21'],
+    '25_lying' : ['25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    
+    '0_lying' : ['0_11', '0_12', '0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+    '75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    '50_standing' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12'],
+    '25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11', '25_12'],
+    '0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12', '0_13'],
+
+}
+
+
+lightbulb = {
+    '100_standing' : ['100_2', '100_3', '100_4', '100_5', '100_6', '100_7'],
+    '75_standing' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17'],
+    '50_standing' : ['50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_1', '50_2', '50_3'],
+    '25_standing' : ['25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8'],
+    '0_standing' : ['0_13', '0_14', '0_15', '0_16'],
+
+    '100_lying' : ['100_8', '100_9', '100_10', '100_11', '100_12', '100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20'],
+    '75_lying' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11', '75_18', '75_19', '75_20'],
+    '50_lying' : ['50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12', '50_20', '50_21'],
+    '25_lying' : ['25_9', '25_10', '25_11', '25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    '0_lying' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12'],
+}
+
+lighter = {
+    '100_lying' : ['100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20', '100_21'],
+    '75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20', '75_21'],
+    '50_lying' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11'],
+    '25_lying' : ['25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20', '25_21'],
+    '0_lying' : ['0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19'],
+
+    '100_standing' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_12'],
+    '75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    '50_standing' : ['50_12', '50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20', '50_21'],
+    '25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11'],
+    '0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10', '0_11', '0_12'],
+}
+
+magnifying_glass = {
+    '100_standing' : ['100_12', '100_13', '100_14', '100_15', '100_16', '100_17'],
+    '75_standing' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20'],
+    '50_standing' : ['50_14', '50_15', '50_16', '50_17', '50_18', '50_19'],
+    '25_standing' : ['25_13', '25_14', '25_15', '25_16', '25_17'],
+    '0_standing' : ['0_3', '0_4', '0_5', '0_6', '0_8', '0_15'],
+
+    '100_lying' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11', '100_18', '100_19', '100_20', '100_21'],
+    '75_lying' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    '50_lying' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11', '50_12', '50_13', '50_20', '50_21'],
+    '25_lying' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11', '25_12', '25_18', '25_19', '25_20', '25_21'],
+    '0_lying' : ['0_10', '0_11', '0_12', '0_13', '0_14', '0_1', '0_2', '0_7', '0_16', '0_17', '0_18', '0_19'],
+}
+
+spray = {
+    '100_standing' : ['100_1', '100_2', '100_3', '100_4', '100_5', '100_6', '100_7', '100_8', '100_9', '100_10', '100_11'],
+    '75_standing' : ['75_1', '75_2', '75_3', '75_4', '75_5', '75_6', '75_7', '75_8', '75_9', '75_10', '75_11'],
+    '50_standing' : ['50_1', '50_2', '50_3', '50_4', '50_5', '50_6', '50_7', '50_8', '50_9', '50_10', '50_11'],
+    '25_standing' : ['25_1', '25_2', '25_3', '25_4', '25_5', '25_6', '25_7', '25_8', '25_9', '25_10', '25_11'],
+    '0_standing' : ['0_1', '0_2', '0_3', '0_4', '0_5', '0_6', '0_7', '0_8', '0_9', '0_10'],
+
+    '100_lying' : ['100_12', '100_13', '100_14', '100_15', '100_16', '100_17', '100_18', '100_19', '100_20'],
+    '75_lying' : ['75_12', '75_13', '75_14', '75_15', '75_16', '75_17', '75_18', '75_19', '75_20', '75_21'],
+    '50_lying' : ['50_12', '50_13', '50_14', '50_15', '50_16', '50_17', '50_18', '50_19', '50_20'],
+    '25_lying' : ['25_12', '25_13', '25_14', '25_15', '25_16', '25_17', '25_18', '25_19', '25_20'],
+    '0_lying' : ['0_11', '0_12', '0_13', '0_14', '0_15', '0_16', '0_17', '0_18', '0_19']
+}
+
+all_data = {
+    "bottle2": bottle2,
+    "glasses": glasses,
+    "lightbulb": lightbulb,
+    "lighter": lighter,
+    "magnifying_glass": magnifying_glass,
+    "spray": spray
+}
+
+# JSON 파일로 저장하기
+# 'w'는 쓰기 모드를 의미합니다.
+# indent=4 옵션은 JSON 파일을 예쁘게 정렬해줘서 가독성을 높입니다.
+with open('object_data.json', 'w', encoding='utf-8') as f:
+    json.dump(all_data, f, ensure_ascii=False, indent=4)
+
+print("data.json 파일이 성공적으로 저장되었습니다.")
+

data/string_gen.py

@@ -0,0 +1,25 @@
+import json
+
+def gen(type, fill_rate, start, end, status, plus):
+    fill_rate = fill_rate
+    plus = plus
+    type = type
+    start = start
+    end = end
+    status = status
+
+    data =[]
+
+    for i in range(start, end+1):
+        x = f'{fill_rate}_{i}'
+        data.append(x)
+    print(f"'{type}_{fill_rate}_{status}'", end=' : ')
+   
+    data.extend(plus)
+    print(data)
+    return data
+
+
+
+gen('spray', 0,11,19,'lying',[])
+