This repository provides a new algorithm for matching/registration of planar, parametrized curves using translations and rotations (i.e. elements of the special Euclidean group SE(2)).

It's recommended to create a virtual environment for this package, e.g.

virtualenv curve_matching
source curve_matching/bin/activate

Then install the package as follows:

pip install -e git+git@github.com:jvkersch/se2-curve-matching.git@master#egg=Discrepancy

If you've downloaded the package as a zip file, install it instead as follows:

pip install <path-to-zip-file>/se2-curve-matching-master.zip

This will add the discrepancy code to your site-packages. The directory curve_matching/src/discrepancy/worksheets contains a bunch of ipython worksheets which illustrate working with the package. To fire up ipython, do

cd curve_matching/src/discrepancy/worksheets
ipython notebook --pylab inline	

To re-do the simulations in the paper, just run the four worksheets. This will take some time, and will put the figures of the paper in the Figures subfolder and some (temporary) data in data.

Lyle Noakes, Darryl D. Holm, Joris Vankerschaver: Relative Geodesics in the Special Euclidean Group, arXiv:1305.3572