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62 lines
2.6 KiB
Plaintext
62 lines
2.6 KiB
Plaintext
This project is part of the 3D Toolkit (3DTK).
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To compile the project simply call "make". This will configure 3DTK-planes using the
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default settings. If you wish to configure the project using custom settings do:
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you may change into the build directory ".build" and configure the
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project with your preferred cmake 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 to
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configure and generate project files for the appropriate version of visual
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studio of your system. Use the INSTALL target to built the entire project.
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Executables (and .dll's) will then reside in the "windows" folder.
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For a detailed explanation of the functionality of the programm, please
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refer to:
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Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter. The 3D
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Hough Transform for Plane Detection in Point Clouds - A Review and A new
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Accumulator Design, Journal 3D Research, Springer, Volume 2, Number 2,
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March 2011.
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One example scans is 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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IMPORTANT;
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For detecting planes compile slam6D with the WITH_PLANE option.
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Adapt the settings in bin/hough.cfg for your data set.
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Extremely large scans might need to be reduced before registration.
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Use the -r option to use an octree based reduction of the scan.
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It is highly recommended to use the -O option as well for reduction to chose
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points randomly (instead of the center) from the octree voxels.
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For a list and description of all the parameters run without any parameters
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bin/planes
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EXAMPLES:
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(using the data set in the slam6d repository)
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bin/planes dat
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(using octree based reduction of the scan with voxel size 10 and 3 points from each voxel)
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bin/planes -s 0 -r 10 -O 3 dat
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(using octree based reduction of the scan with voxel size 10 using the center of each voxel)
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bin/planes -s 0 -r 10 dat
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The generated output is written to the directory specified in the config file in
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bin/hough.cfg (default: dat/planes).
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The output contains a file planes.list that lists the files containing the
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detected planes. Each file with the name planeXXX.3d (with XXX numbers in
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increasing order) specifies the 3D points of the convex hull of the largest
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cluster detected on the plane.
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To view the result with the viewer from slam6d
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bin/show -s 0 -e 0 dat -l dat/planes/planes.list
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