131 lines
5.8 KiB
Text
131 lines
5.8 KiB
Text
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-------------------------------------------------------------------
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To compile the project simply call "make". This will configure slam6d
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using the default settings. If you wish to configure the project using
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custom settings do: "make config". This command requires ccmake be
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installed on your system. Alternatively you may change into the build
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directory ".build" and configure the project with your preferred cmake
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configurator, i.e.:
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cd .build && cmake -i ../
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For Microsoft Windows, use the cmake-gui application provided by cmake
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to configure and generate project files for the appropriate version of
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Microsoft Visual Studio C++ of your system. Use the INSTALL target to
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built the entire project. Executables (and .dll's) will then reside
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in the "windows" folder. For running the binaries you need to install
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the proper redistributable package.
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Some Boost libraries (graph, regex, serialization, filesystem,
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interprocess) are needed to compile the slam6D program.
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If you are using Debian just do:
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aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev freeglut3-dev libxmu-dev libxi-dev
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or, if you are still using Debian stable (lenny):
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aptitude install libboost-graph1.35-dev libboost-regex1.35-dev libboost-serialization1.35-dev freeglut3-dev libxmu-dev libxi-dev
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for Ubuntu this would be:
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sudo apt-get install libboost-all-dev libcv-dev freeglut3-dev libxmu-dev libxi-dev
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SuSE users please use yast2 for installing the missing packages
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Additionally you need some external tools (exemplarily for Ubuntu):
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sudo apt-get install imagemagick ffmpeg libx264-120
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-------------------------------------------------------------------
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For a detailed explanation of the programm, its usage, etc., please
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refer to the high level documentation doc/documentation_HL.pdf
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(esp. sections 4-6, for starters).
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IMPORTANT:
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Take care to register scans first (bin/slam6D) before trying to
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display them (bin/show), and think about using the point reduction
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(see section 6) for a much faster scan matching result. Extremely
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large scans might need to be reduced (using bin/scan_red) before
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registration. This will write reduced scans in the uos format into a
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directory "reduced" in the data directory.
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Three example scans are included in the dat directory, several
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larger data sets can be downloaded from the data repository,
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http://kos.informatik.uni-osnabrueck.de/3Dscans/
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(Alternatively, click on the "Data Repository" link on this project's
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web site on Sourceforge, http://slam6d.sourceforge.net/)
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EXAMPLES:
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(using the data set in the slam6d repository)
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bin/slam6D -m 500 -R 5 -d 25.0 --metascan dat
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bin/show dat
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(using the data set in the slam6d repository)
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bin/slam6D --max=500 -r 10.2 -i 20 --metascan dat
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bin/show dat
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(using hannover1.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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bin/slam6D -s 1 -e 65 -r 10 -i 100 -d 75 -D 250 --epsICP=0.00001
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-I 50 --cldist=750 -L 0 -G 1 /home/nuechter/dat/dat_hannover1
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bin/show -s 1 -e 65 /home/nuechter/dat/dat_hannover1
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(using hannover2.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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bin/slam6D -q -r 10 -f rts -s 23 -d 75 -L 4 --cldist=1500 -G 1 -D -1
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--DlastSLAM 250 --graphDist 200 -I 50 hannover2
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bin/show -f rts -s 23 hannover2
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(using kvarntorp_mine.tgz (dat_mine1) form http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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bin/slam6D -s 1 -e 76 -r 10 -m 3000 -d 50 -i 1000 --epsICP=0.000001
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-I 50 -D 75 --clpairs=5000 -f old /home/nuechter/dat/dat_mine1/
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bin/show -s 1 -e 76 -m 3000 -f old /home/nuechter/dat/dat_mine1/
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(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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bin/scan_red -s 0 -e 12 -r OCTREE -v 10 --octree 0 -f RIEGL_TXT /home/nuechter/dat/bremen_city
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bin/slam6D -a 2 -q /home/nuechter/dat/bremen_city/reduced -f uos -d 150
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-s 0 -e 12 --anim=1 -n /home/nuechter/dat/bremen_city/bremen.net
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-G 1 -D 100 -i 0 -I 50 -p --epsSLAM=0.0
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bin/show -s 0 -e 12 /home/nuechter/dat/bremen_city/reduced
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(using UniKoblenz_CampusTour3_OsnabrueckFormat.tar.gz from
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http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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bin/slam6D -s 1 -e 320 -r 20 -i 300 --epsICP=0.000001 -d 45 -D 45
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-f uos --algo=2 -l 10 -L 4 -I 100 -G 1
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/home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/
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bin/show -s 1 -e 320 -f uos /home/nuechter/dat/UniKoblenz_CampusTour3_OsnabrueckFormat/
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-------------------------------------------------------------------
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For detecting planes compile with the WITH_PLANE option.
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Adapt the settings in bin/hough.cfg for your data set.
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EXAMPLE: (using the data set in the slam6d repository, no modification
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of bin/hough.cfg necessary)
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bin/planes -s 0 dat
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bin/show -s 0 -e 0 dat -l dat/planes/planes.list
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(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
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adapt these settings in bin/hough.cfg:
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RhoNum 500
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RhoMax 5000
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MaxPointPlaneDist 50.0
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MinPlaneSize 50
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PointDist 100.0
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/bin/planes -f riegl_txt -s 0 /home/nuechter/dat/bremen_city/ -r 50 -O 1 -m 5000
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/bin/show -s 0 -e 0 /home/nuechter/dat/bremen_city/ -f riegl_txt -l dat/planes/planes.list -r 10 -O 1 -m 5000
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-------------------------------------------------------------------
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The IO relevant parameters -f(ormat), -s(tart), -e(nd) can be omitted
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in slam6D and show if a 'format' file exists in the directory, which
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contains key=value lines (spaces are trimmed automatically) for
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format, start, end with the same values as in the commandline. These
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format-file parameters will be overwritten by commandline parameters
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so that the format-file will provide the right IO type and full index
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range and the user can overwrite the index range as he sees fit.
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-------------------------------------------------------------------
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A reference manual can be found in doc/refman.pdf resp.
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doc/html/index.html (type in 'make docu' to compile the doxygen
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documentation for the HTML files).
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