shyamalschandra / kinect-6dslam Goto Github PK

README

DIRECTORIES:
-- Kinect-data-recorder.zip: this is an OpenFrameworks 0.62 project, 
   which produces data files (.3d and .pose) for the slam6D algorithm
-- 6Dslam: this is the slam6D project, 
   which is a command-line app, that needs to be compiled.

You will need to download Boost for the 6dslam:
-- boost_1_46_1.tar.bz2 
http://sourceforge.net/projects/boost/files/boost/1.46.1/

USER OVERVIEW (BRIEF):
-- Use the Kinect-data-recorder to record (.3d and .pose) data files, required for slam6D, from a series of views. 
   The program REQUIRES you to turn an object through 360 degrees on a Lazy Susan. 
-- Obtain the (.3d and .pose) data files by selecting ofxKinectDebug->Show Package Contents->MacOS
-- Copy over the (.3d and .pose) data files and ask the slam6D program to process them (from the command line)
-- The slam6D program produces a data file, points.pts which is the point cloud, for further meshing. 

ISSUES:
-- The slam6D algorithm is in a separate command-line program from the Kinect app. 
-- The (.3d and .pose) data files produced by the Kinect app are placed in the app's resource fork (not /data)
-- The slam6D project is not an OF/XCode project yet.
-- The slam6D code requires a minor edit before compiling (see below). 
-- The slam6D project requires Boost, to be installed in /usr/local/boost_1_46_1/
-- The results are very noisy. We need noise pre-removal on the Kinect app end.
-- There are many many options for the slam6D algorithm (type bin/slam6D at the command line for options). 
   It is not yet known which of these options will work best with the data produced by the Kinect. 


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References:
Instructions to install boost (heavily referred from):
http://www.boost.org/doc/libs/1_46_1/more/getting_started/unix-variants.html

Instructions to set CFlags in slam6D
http://blog.vaibhavbajpai.com/installing-slam6d-on-mac-os-x

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INSTRUCTIONS:

1. Download & untar Boost
2. Move Boost to the directory you want -- typically, 
/usr/local/boost_1_46_1/ 
for general use

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3. Download slam6d, and change the following code in slam6D (which has bugs/errors!), 
Change as follows to always export points (otherwise there's no output!):

  if (exportPoints) {
    cout << "Export all 3D Points" << endl;
É
  }

into

  if (true) {
    cout << "Export all 3D Points" << endl;
É
  }

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4. Add the following CFlags to slam6D's makefile so that it will compile with dir that you want

*Mostly type below commands in the shell after getting into slam6d dir

rm Makefile.options
cp Makefile.options.macos Makefile.options
CFLAGS += -I/directory_to_boost
CFLAGS += -L/directory_to_boost/lib
make

*Typing make means compiling slam6d with boost. If no error, continue

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USAGE:
General (command-line) usage for slam6D:

bin/slam6D -a 5 dir_you_want --exportAllPoints
Dir should contain .3d and .pose data extracted from kinect
Change # after -a to try different modes
If you did optional step b in 3, you do not need to type --exportAllPoints

Simply type bin/slam6D to get full help (man) info