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CAPE

Cylinder and Plane Extraction from Depth Cameras

Implementation of the method proposed in:
P. Proenca and Y. Gao, Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometry, IROS, 2018 https://arxiv.org/abs/1803.02380

Note: The parameters are fine-tuned for detecting large surfaces with Kinect 1 and Structure sensor for VO. For other applications, these may need to be modified.

Dependencies

  • OpenCV
  • Eigen3

Data

RGBD Sequences w/ cylinders are available for testing: Here

Download a .zip file and unzip it into ./Data

Ubuntu Instructions

Tested with Ubuntu 14.04 & 16.04

To compile, inside the directory ./CAPE which contains the CmakeLists.txt, type:

mkdir build
cd build
cmake ..
make

To run the executable, use the following format:

./cape_offline <cell_size> <sequence_name>

where the first argument is the cell size in pixels (recommended 20) and the second argument is a folder stored in:./Data that contains the image and calibration files. For example, if the target sequence is the 'tunnel' (assuming this was downloaded as specified above),run:

./cape_offline 20 tunnel

Windows Instructions

Tested configuration: Windows 8.1 with Visual Studio 12

This version includes already a VC11 project. Just make the necessary changes to link the project with OpenCV and Eigen.