CppRBNN

This is a fast implementation of RBNN in C++. Works only on Windows 10.

Building from source

• Install PCL 1.8.1
• Install cmake 3.0 or higher
• Build using cmake from the root folder using CMakeLists.txt and the main .cpp file
• Open the project in Visual Studio 2017
• Build in Release mode

Usage

• After building the project in release mode, rbnn.exe can be found in the release folder. It is a command line tool with the following usage:
  • .\rbnn.exe <path_to_directory> <xyz_pcd_file> <radius_values_delimited_by_space>
  • Radius values determine for which radius thresholds you want rbnn to execute and save the results in the results file.
  • example: .\rbnn.exe C:\myfolder file.pcd 0.5 1 3 5 10

Result

After rbnn is finished executing, it will output a result file in the same folder. This file has a line for each radius value. The values are separated by a space. The first value is the radius threshold of rbnn. Following are the classifications of each of the points in the input point cloud according to RBNN. -1 represents the class of points that belong to the floor. All other classes belong to non-floor points, represented with non-negative integers. Those points that have the same integer value belong to the same segment. Here is an example...

3 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 2 2 2 2
5 -1 -1 -1 -1.... 123 123 123 123 -1 -1 532 532 532 ...