To compile the project simply call "make". This will configure slam6d using the default settings. If you wish to configure the project using custom settings do: "make config". This command requires ccmake be installed on your system. Alternatively you may change into the build directory ".build" and configure the project with your preferred cmake configurator, i.e.:
cd .build && cmake -i ../
For Microsoft Windows, use the cmake-gui application provided by cmake to configure and generate project files for the appropriate version of Microsoft Visual Studio C++ of your system. Use the INSTALL target to built the entire project. Executables (and .dll's) will then reside in the "windows" folder. For running the binaries you need to install the proper redistributable package.
Some Boost libraries (graph, regex, serialization, filesystem, interprocess) are needed to compile the slam6D program.
If you are using Debian just do:
aptitude install libboost-graph-dev libboost-regex-dev libboost-serialization-dev freeglut3-dev libxmu-dev libxi-dev
or, if you are still using Debian stable (lenny):
aptitude install libboost-graph1.35-dev libboost-regex1.35-dev libboost-serialization1.35-dev freeglut3-dev libxmu-dev libxi-dev
for Ubuntu this would be:
sudo apt-get install libboost-all-dev libcv-dev freeglut3-dev libxmu-dev libxi-dev
SuSE users please use yast2 for installing the missing packages
Additionally you need some external tools (exemplarily for Ubuntu):
sudo apt-get install imagemagick ffmpeg libx264-120
For a detailed explanation of the programm, its usage, etc., please refer to the high level documentation doc/documentation_HL.pdf (esp. sections 4-6, for starters).
IMPORTANT: Take care to register scans first (bin/slam6D) before trying to display them (bin/show), and think about using the point reduction (see section 6) for a much faster scan matching result. Extremely large scans might need to be reduced (using bin/scan_red) before registration. This will write reduced scans in the uos format into a directory "reduced" in the data directory.
Three example scans are included in the dat directory, several larger data sets can be downloaded from the data repository, http://kos.informatik.uni-osnabrueck.de/3Dscans/ (Alternatively, click on the "Data Repository" link on this project's web site on Sourceforge, http://slam6d.sourceforge.net/)
EXAMPLES: (using the data set in the slam6d repository) bin/slam6D -m 500 -R 5 -d 25.0 --metascan dat bin/show dat
(using the data set in the slam6d repository) bin/slam6D --max=500 -r 10.2 -i 20 --metascan dat bin/show dat
(using hannover1.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) bin/slam6D -s 1 -e 65 -r 10 -i 100 -d 75 -D 250 --epsICP=0.00001 -I 50 --cldist=750 -L 0 -G 1 /home/nuechter/dat/dat_hannover1 bin/show -s 1 -e 65 /home/nuechter/dat/dat_hannover1
(using hannover2.tgz from http://kos.informatik.uni-osnabrueck.de/3Dscans/) bin/slam6D -q -r 10 -f rts -s 23 -d 75 -L 4 --cldist=1500 -G 1 -D -1 --DlastSLAM 250 --graphDist 200 -I 50 hannover2 bin/show -f rts -s 23 hannover2
(using kvarntorp_mine.tgz (dat_mine1) form http://kos.informatik.uni-osnabrueck.de/3Dscans/) bin/slam6D -s 1 -e 76 -r 10 -m 3000 -d 50 -i 1000 --epsICP=0.000001 -I 50 -D 75 --clpairs=5000 -f old /home/nuechter/dat/dat_mine1/ bin/show -s 1 -e 76 -m 3000 -f old /home/nuechter/dat/dat_mine1/
(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
bin/scan_red -s 0 -e 12 -r OCTREE -v 10 --octree 0 -f RIEGL_TXT /home/nuechter/dat/bremen_city
bin/slam6D -a 2 -q /home/nuechter/dat/bremen_city/reduced -f uos -d 150
-s 0 -e 12 --anim=1 -n /home/nuechter/dat/bremen_city/bremen.net
-G 1 -D 100 -i 0 -I 50 -p --epsSLAM=0.0
bin/show -s 0 -e 12 /home/nuechter/dat/bremen_city/reduced
For detecting planes compile with the WITH_PLANE option. Adapt the settings in bin/hough.cfg for your data set.
EXAMPLE: (using the data set in the slam6d repository, no modification of bin/hough.cfg necessary)
bin/planes -s 0 dat bin/show -s 0 -e 0 dat -l dat/planes/planes.list
(using bremen_city.zip from http://kos.informatik.uni-osnabrueck.de/3Dscans/)
adapt these settings in bin/hough.cfg:
RhoNum 500
RhoMax 5000
MaxPointPlaneDist 50.0
MinPlaneSize 50
PointDist 100.0
/bin/planes -f riegl_txt -s 0 /home/nuechter/dat/bremen_city/ -r 50 -O 1 -m 5000
/bin/show -s 0 -e 0 /home/nuechter/dat/bremen_city/ -f riegl_txt -l dat/planes/planes.list -r 10 -O 1 -m 5000
The IO relevant parameters -f(ormat), -s(tart), -e(nd) can be omitted in slam6D and show if a 'format' file exists in the directory, which contains key=value lines (spaces are trimmed automatically) for format, start, end with the same values as in the commandline. These format-file parameters will be overwritten by commandline parameters so that the format-file will provide the right IO type and full index range and the user can overwrite the index range as he sees fit.
A reference manual can be found in doc/refman.pdf resp. doc/html/index.html (type in 'make docu' to compile the doxygen documentation for the HTML files).