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CAPE

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Cylinder and Plane Extraction from Depth Cameras

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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](https://drive.google.com/drive/folders/1CaVVLF7AQUlsOwFWrx-Fm7zB6wueQBE3?usp=sharing)

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.

CAPE

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