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README.planes.md

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3DTK - Planes

This project is part of the 3D Toolkit (3DTK)

Build Instructions

To compile the project simply call make. This will configure slam6d using the default settings. If you wish to configure the project using custom settings do: make config. This command requires ccmake be installed on your system. Alternatively you may change into the build directory .build and configure the project with your preferred cmake configurator, i.e.:

cd .build && cmake -i ../

For Microsoft Windows, use the cmake-gui application provided by cmake to configure and generate project files for the appropriate version of Microsoft Visual Studio C++ of your system. Use the INSTALL target to built the entire project. Executables (and .dll's) will then reside in the windows folder.

Getting Started

For a detailed explanation of the functionality of the programm, please refer to: Dorit Borrmann, Jan Elseberg, Kai Lingemann, and Andreas Nüchter. The 3D Hough Transform for Plane Detection in Point Clouds - A Review and A new Accumulator Design, Journal 3D Research, Springer, Volume 2, Number 2, March 2011.

One example scans is included in the dat directory, several larger data sets can be downloaded from the data repository.

Important

For detecting planes compile slam6D with the WITH_SHAPE_DETECTION option. Adapt the settings in bin/hough.cfg for your data set.

Extremely large scans or scans with large differences in point distribution might need to be reduced before registration. Use the -r option to use an octree based reduction of the scan. It is highly recommended to use the -O option as well for reduction to chose points randomly (instead of the center) from the octree voxels.

For a list and description of all the parameters run without any parameters bin/planes.

Examples:

Using the data set in the slam6d repository:
bin/planes dat
Using octree based reduction of the scan with voxel size 10 and 3 points from each voxel:
bin/planes -s 0 -r 10 -O 3 dat
Using octree based reduction of the scan with voxel size 10 using the center of each voxel:
bin/planes -s 0 -r 10 dat

The generated output is written to the directory specified in the config file in bin/hough.cfg (default: dat/planes). The output contains a file planes.list that lists the files containing the detected planes. Each file with the name planeXXX.3d (with XXX numbers in increasing order) specifies the 3D points of the convex hull of the largest cluster detected on the plane.

To view the result with the viewer from slam6d:

bin/show -s 0 -e 0 dat -l dat/planes/planes.list