Update docs and README

cornellev · Oct 30, 2024 · c6ef1bc · c6ef1bc
1 parent d7db03f
commit c6ef1bc
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Showing 8 changed files with 59 additions and 88 deletions.
diff --git a/Makefile b/Makefile
@@ -4,11 +4,10 @@ SRCDIR		:= src
 INCLUDEDIR	:= src
 
 CC			:= $(shell which g++ || which clang++)
-# CC			:= $(shell which clang++)
 PY			:= $(shell which python3 || which python)
 CFLAGS		:= -std=c++17 -pedantic -Wall -Wextra -I $(INCLUDEDIR)
 CDEBUG		:= -g
-CRELEASE	:= -O3 -DRELEASE_BUILD #-fno-fast-math
+CRELEASE	:= -O3 -DRELEASE_BUILD
 TARGET		:= main
 LIBNAME		:= libcevicp.a
 
@@ -46,27 +45,19 @@ $(TARGET): main.cpp $(OBJ)
 	$(CC) $(CFLAGS) $^ $(LDFLAGS) -o $@
 	@make readme
 
-# .PHONY: run
-# run: $(TARGET)
-# 	./$(TARGET)
-
 .PHONY: test
 test: test.cpp $(OBJ)
 	@$(CC) $(CFLAGS) -DTEST -o _temp $^ $(LDFLAGS)
 	@echo 'Running tests...'
 	@./_temp
 	@rm -f ./_temp
 
-.PHONY: aux
-aux: $(TARGET) 
-	./$(TARGET) -mvanilla
-
 .PHONY: view
 view: $(TARGET)
 	./$(TARGET) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --gui
 
 .PHONY: bench
-bench: $(TARGET) 
+bench: $(TARGET)
 	./$(TARGET) -S ex_data/scan$(N)/first.conf -D ex_data/scan$(N)/second.conf --method $(METHOD) --bench
 
 %.o: %.cpp
@@ -77,15 +68,16 @@ bench: $(TARGET)
 clean:
 	rm -rf $(OBJ) $(TARGET) $(TARGET) $(DEPS) $(shell find . -name "*.dSYM") $(shell find . -name "*.d") docs
 
+# Not building book rn, add these commands to build
+# cd book; \
+  pdflatex icp.tex; \
+  rm *.aux *.log *.out \
+  mv book/icp.pdf docs
 .PHONY: docs 
 docs:
 	@make readme
 	$(PY) script/icp_doc_builder.py src/icp/ book/icp_descr/
-	cd book; \
-		pdflatex icp.tex; \
-		rm *.aux *.log *.out
 	doxygen
-	mv book/icp.pdf docs
 	cp book/desmos.txt docs
 
 .PHONY: cloc
@@ -94,7 +86,7 @@ cloc:
 
 .PHONY: readme
 readme:
-	cd script; $(PY) readme.py `curl https://api.github.com/repos/cornellev/icp/releases/latest | jq .name`
+	cd script; $(PY) readme.py
 
 .PHONY: math
 math:

diff --git a/README.md b/README.md
@@ -3,7 +3,8 @@
 <!-- EDIT README.md.build INSTEAD. -->
 # icp
 
-> Last updated 2024-10-29 20:38:09.763209.  
+> Last updated 2024-10-29 21:34:15.790605.  
+> Version v1.2.1.
 > Made by [Ethan Uppal](https://www.ethanuppal.com) and [Utku Melemetci](https://utku.sh).
 
 ## Introduction
@@ -23,7 +24,9 @@ Please see there for information on how to download and how to use the library.
 You can build the documentation yourself locally with `make docs`.
 The main page will be located at `docs/index.html` relative to the project root.
 
-## v1.2.1 
+## Versions
+
+### v1.1.2
 
 Started work on a new implementation (read [this paper](book/icp.pdf)).
 It passes all `make test` tests.
@@ -46,7 +49,7 @@ ICP ALGORITHM BENCHMARKING
 * Average time per invocation: 0.00413281s
 ```
 
-### v1.1.x
+### v1.1.1
 
 The algorithm runs extremely fast now.
 We only need it to run at 6hz with our current LiDAR.

diff --git a/README.md.build b/README.md.build
@@ -1,6 +1,7 @@
 # icp
 
 > Last updated {{DATE}}.  
+> Version {{VERSION}}.
 > Made by {{AUTHOR}}.
 
 ## Introduction
@@ -20,6 +21,42 @@ Please see there for information on how to download and how to use the library.
 You can build the documentation yourself locally with `make docs`.
 The main page will be located at `docs/index.html` relative to the project root.
 
-## {{VERSION}} 
+## Versions
+
+### v1.1.2
+
+Started work on a new implementation (read [this paper](book/icp.pdf)).
+It passes all `make test` tests.
+Here is the performance currently:
+```
+ICP ALGORITHM BENCHMARKING
+=======================================
+* Method name: test1
+* Number of trials: 50
+* Burn-in period: 0
+* Ideal convergence threshold: 20
+* Min cost: 19.4709
+* Max cost: 19.4709
+* Median cost: 19.4709
+* Mean cost: 19.4709
+* Min iterations: 7 (real: 7)
+* Max iterations: 7 (real: 7)
+* Median iterations: 7 (real: 7)
+* Mean iterations: 7 (real: 7)
+* Average time per invocation: 0.00413281s
+```
+
+### v1.1.1
+
+The algorithm runs extremely fast now.
+We only need it to run at 6hz with our current LiDAR.
+
+![](book/asset/img/v1.1.1bench.png)
+
+It also matches quite well.
+Below is the result of running this ICP implementation on two point clouds obtained within the workspace.
+
+![](book/asset/img/v1.1.1result.png)
+
+However, there is still remove for improvement with regard to outlier rejection and other parts of the algorithm (for instance, adopting a point-to-line metric).
 
-{{VERSIONMD}}
diff --git a/book/icp.pdf b/book/icp.pdf
diff --git a/book/icp_descr/.gitkeep b/book/icp_descr/.gitkeep
diff --git a/book/icp_descr/icp_test1.md b/book/icp_descr/icp_test1.md
diff --git a/book/versions/v1.md b/book/versions/v1.md
diff --git a/script/readme.py b/script/readme.py
@@ -1,13 +1,14 @@
 if __name__ == "__main__":
-    import subprocess
-    import sys
     from datetime import datetime as dt
 
+    import requests
+
     README_PATH = "../README.md"
     README_GEN_PATH = README_PATH + ".build"
-    VERSION_TAG = sys.argv[1][1:-1]
-    VERSION_MAJOR = VERSION_TAG.split(".")[0]
-    VERSION_MD_PATH = "../book/versions"
+
+    VERSION_TAG = requests.get(
+        "https://api.github.com/repos/cornellev/icp/releases/latest"
+    ).json()["name"]
 
     with open(README_GEN_PATH, "r") as f:
         readme = {"content": f.read()}
@@ -22,9 +23,6 @@ def put(var, text):
             "[Ethan Uppal](https://www.ethanuppal.com) and [Utku Melemetci](https://utku.sh)",
         )
 
-        with open(f"{VERSION_MD_PATH}/{VERSION_MAJOR}.md", "r") as md:
-            put("VERSIONMD", md.read())
-
         with open(README_PATH, "w") as f:
             f.write(
                 "<!-- THIS FILE IS GENERATED AUTOMATICALLY. -->\n<!-- DO NOT EDIT THIS FILE. -->\n<!-- EDIT README.md.build INSTEAD. -->\n"