/GeoDetection

Point cloud tools for extracting information from point clouds of natural environments.

Primary LanguageC++

GeoDetection

Tools for processing and extracting information from point clouds of natural environments. Under development, tested for Windows.

Current features:

  • Macro-based logging & progress bars

  • Fast c-style ascii import of LiDAR XYZ & Scalar Fields.

  • Command line interfacing for single and batch processing.

  • GeoDetection Cloud objects

    • Contains core tools for point cloud operations
    • Provides storage for frequently used pcl types (i.e KdTree, Octree, normals)
    • Storage of arbitrary number of scalar fields, for feature calculation etc.

Current GeoDetection modules:**

**Auto Registration (global feature matching and ICP)

Vegetation Segmentation (multiscale feature calculation)

Point cloud classification using masks

To be added...

  • IO: Implementing PDAL for importing .las and .laz files.

  • IO: Implementing RIEGL laser intruments' SDK for .rdb IO.

  • Module: PCL visualization (VTK) that supports user input (i.e. selection camera position for orienting normals, interactive auto registration).

  • Module: Segmentation (supervoxels; region growing; object-based segmentation).

  • OVERALL: CUDA for point-normal and volumetric feature calculation.

  • OVERALL: Cross platform testing.

Windows Build

Requirements:

  • Git
  • CMake
  1. Make a folder (e.g. C:/Dev)

  2. Clone the GeoDetection repository into your folder (cloned into a "GeoDetection" folder).
    $ cd C:/Dev
    $ git clone --recurse-submodules -j8 https://github.com/pmdifran/GeoDetection.git

  3. Download the PCL-AllInOne installer from the PCL releases on github (i.e. PCL-1.12.0-AllInOne-msvc2019-win64.exe).

  4. Download the PDB files from PCL releases (i.e. pcl-1.12.0-rc1-pdb-msvc2019-win64.zip).
    --> Allows you to debug inside the PCL libraries.

  5. Launch the installer, and install it into your folder (e.g. C:/Dev/PCL). Copy the .pdb files into PCL/bin.

  6. Not required yet Download PDAL using conda package manager:
    --> Create dependencies directory with pdal folder (e.g. C:/Dev/dependencies/pdal)
    -->install pdal in this directory: conda create --yes --channel conda-forge pdal -p C:/Dev/dependencies/pdal

  7. Build the project with CMake from the command line.

cd C:/Dev
mkdir build
cd build
cmake -Ddependencies_DIR=C:/Dev/dependencies ../GeoDetection
  1. Open the build file created for MSVS (i.e. C:/Dev/Build/GeoDetection.sln)

Linux; MacOS; Windows (custom)

Refer to https://pcl.readthedocs.io/projects/tutorials/en/latest/# for building yourself on Windows 10, or on POSIX compliant systems.