PointCloudSegmentation-V2

Modification: (1) use nanoflann.cpp to replace the ann library; (2) remove some cpps

Three algorithms on point cloud segmentation used in the following paper:

Pairwise Linkage for Point Cloud Segmentation, Xiaohu Lu, etc. ISPRS2016. https://github.com/xiaohulugo/xiaohulugo.github.com/blob/master/papers/PLinkage_Point_Segmentation_ISPRS2016.pdf

*The algorithm used in the ISPRS2016 paper is ClusterGrowPLinkage.cpp

Prerequisites:

1. OpenCV > 2.4.x
2. OpenMP

Usage:

1. build the project with Cmake
2. run the code
3. see main.cpp for interfaces/demos

Docker: (For linux)

1. Build the docker image by running docker build -t opencv:cpp . to build the docker image with name opencv and tag cpp
2. Modify the code as you wish. Also the default data folder for test is ./data in the root path.
3. Modify the test_segment.sh. This is the script the container will run after it is set up.
4. Run the following command in the root path of the project.

docker run -it --rm \
    -v $(pwd):/pointSegment \
    opencv:cpp \
    /pointSegment/test_segment.sh

Performance:

<img src="https://github.com/xiaohulugo/images/blob/master/vehicle.jpg" width="640"> <img src="https://github.com/xiaohulugo/images/blob/master/aerial.jpg" width="640"> <img src="https://github.com/xiaohulugo/images/blob/master/static.jpg" width="640">

Please cite these two papers if you feel this code useful:

@ARTICLE{Lu2016Pairwise,
author = {Lu, Xiaohu and Yao, Jian and Tu, Jinge and Li, Kai and Li, Li and Liu, Yahui},
title = {PAIRWISE LINKAGE FOR POINT CLOUD SEGMENTATION},
journal = {ISPRS Annals of Photogrammetry, Remote Sensing \& Spatial Information Sciences},
year = {2016},
}

}

Feel free to correct my code, if you spotted the mistakes. You are also welcomed to Email me: fangzelu@gmail.com