/shape-fitting

Primary LanguageC++MIT LicenseMIT

shape fitting using PCL

Installing

mkdir build && cd build && cmake .. && make

Generating test dataset (ground truth + point clouds)

  1. Go inside $SHAPE_FITTING_DIR folder

  2. Generate dataset (dataset/ground_truth dataset/point_clouds): bash scripts/generate_clouds.sh (change the folder paths and desired parameters inside fitting_tests.sh file)

Generating test results (simulation)

  1. Go inside $SHAPE_FITTING_DIR folder

  2. Generate test results (dataset/results): bash scripts/fitting_tests.sh (change the folder paths and desired parameters inside fitting_tests.sh file)

Evaluate quality of fitting on real clouds

  1. Go inside $SHAPE_FITTING_DIR folder

Evaluate: bash scripts/real_data_tests.sh (change the folder paths and desired parameters inside fitting_tests.sh file)

Reference

In case you use our library in your research, please cite our work

@inproceedings{figueiredo2017robustCylinderFitting,
  title={Robust cylinder detection and pose estimation using 3D point cloud information},
  author={Figueiredo, Rui and Moreno, Plinio and Bernardino, Alexandre},
  booktitle={Autonomous Robot Systems and Competitions (ICARSC), 2017 IEEE International Conference on},
  pages={234--239},
  year={2017},
  organization={IEEE}
}