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Polygonal surface reconstruction from point clouds

PolyFit reconstruction pipeline

PolyFit implements the hypothesis and selection based surface reconstruction method described in the following paper:

Liangliang Nan and Peter Wonka. 
PolyFit: Polygonal Surface Reconstruction from Point Clouds. 
ICCV 2017.

Please consider citing the above paper if you use the code/program (or part of it).

Obtaining PolyFit

Prebuilt executable files (for both macOS and Windows) are available here.

You can also build PolyFit from the source code:

  • Download the source code.

  • Dependencies

    • Qt (v5.8.0, v5.9.2, v5.10.1 have been tested)
    • CGAL (v4.10, v4.11.1 have been tested)
  • Build PolyFit.

    • There are many ways to build PolyFit. Choose one of the following (or whatever you are familiar with):
      • Option 1: Use any IDE that can directly handle CMakeLists files to open the CMakeLists.txt in the root directory of PolyFit. Then you should have obtained a usable project and just build. I recommend using CLion or QtCreator.
      • Option 2: Use CMake to generate project files for your IDE. Then load the project to your IDE and build.
      • Option 3: Use CMake to generate Makefiles and then make (on Linux/macOS) or nmake(on Windows with Microsoft Visual Studio).

Don't have any experience with C/C++ programming? Have a look at How to build PolyFit step by step.

News: Since Aug. 5, 2019, PolyFit is also available in CGAL. Find more here.

Run PolyFit

Super easy! This demo version provides a user interface with a few buttons (with numbered icons) and screen hints corresponding to these steps. Just click the buttons following the hints.


Some test data can be downloaded from the project page.

More information about the data (e.g., data format) is described here.

Plane extraction. Incorporating plane extraction adds an unnecessary dependency to more third-party libraries (e.g., RANSAC). Besides, it has some randomness (due to the nature of RANSAC) and the data quality can vary a lot (it should be fine if some regions of the planes are missing). So I isolated this part from this demo version and you're expected to provide the planar segments as input.

You can use my Mapple to extract planes from point clouds. After you load the point cloud, go to the menu Partition -> Extract Primitives. To visualize the planes, change the renderer from 'Plain' to 'Group' in the Rendering panel (at the left side of Mapple). You can save the planes as bvg (Binary Vertex Group) format. The ASCII format vg also works but slow. Please note, PolyFit assumes that the model is closed and all necessary planes are provided.

About the solvers

Four solvers, namely Gurobi, SCIP, GLPK, and lp_solve, are provided (with source code) in PolyFit. The Gurobi solver is more efficient and reliable and should always be your first choice. In case you want a fast but open source solver, please try SCIP, which is slower than Gurobi but acceptable. The GLPK and lp_solve solvers only manage to solve small problems. They are too slow (and may not guarantee to succeed). For example the data "Fig1", Gurobi takes only 0.02 seconds, while lp_solve 15 minutes. For your convenience, the dynamic library of Gurobi is included in this distribution, but you may still need to obtain a license (free for academic use) from here.

About the timing

This demo implementation incorporates a progress logger in the user interface. Thus, running times should be (slightly) longer than those reported in our paper.


This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License or (at your option) any later version. The full text of the license can be found in the accompanying LICENSE file.

Should you have any questions, comments, or suggestions, please contact me at:

Liangliang Nan

July 18, 2017

Copyright (C) 2017

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