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From Design to Software 2

Miroslav Byrtus 1328167

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Description

PCL Integration in Unity

Unity:

• Load pointclouds (from file / kinect)
• Segment
  • Plane model segmentation (floor segmentation) http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation)
  • Euclidean Cluster Extraction (object segmentation) http://pointclouds.org/documentation/tutorials/cluster_extraction.php#cluster-extraction)
  • Store indices of segmented clusters
• Display
  • enable in scene (arrows + mouse)
• Make clusters (segmented pointclouds) clickable
  • after clicking on cluster - mark it and enable movement ( w a s d )

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Requirements for compiling the project from source code:

• PCL 1.7 installed on your PC ** To install PCL, follow the steps on the official website, according to your OS
  • http://pointclouds.org/downloads/linux.html
  • http://pointclouds.org/downloads/windows.html
  • http://pointclouds.org/downloads/macosx.html

For development:

• Unity3D (free version is enough)
• MS Visual Studio - version compatible with PCL installed

Optional:

• Kinect
• If you want to use Kinect in this project, you also will need to install
  • drivers for Kinect for your OS
  • OpenNI (In the list of optional dependencies for PCL)

Requirements for running the project:

• Unity3D (free version is enough)
• Unity Project
• cpp_plugin_pcl.dll coppied into the root directory of the project
• dependent ddls for cpp_plugin_pcl.dll (Can vary depending on PCL version installed and on your OS)
  • For Windows 8 32bit with PCL 1.7. 32bit installed, it is:
  • kernel32.dll
  • advapi32.dll
  • pcl_common_debug.dll
  • pcl_io_debug.dll
  • pcl_search_debug.dll
  • pcl_filters_debug.dll
  • pcl_segmentation_debug.dll
  • msvcp100d.dll
  • msvcr100d.dll
• If you want to use Kinect in this project, you also will need drivers for Kinect, compatible with your OS

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How to use the plugin?

1. Create a DLL from the .cpp file
2. Make sure that the DLL is located in the root folder of your Unity Project (Copy it in Filesystem, not trough Unity)
3. Copy the pointcloud file into the project directory, or connect Kinect to your PC 3.1. If you want to use Kinect, you have to check the "Use Kinect" checkbox in the Plugin Script settings If it's not checked, it will load a Pointcloud from file "table_scene_lms400.pcd" (It's available in the UnityPCL directory)
4. Now you can use the plugin (Check the example script how to use it's functionality)

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Time measuring (Reading Pointcloud from File)

• readCloud() : True in 2.539685 s.
• getCloudSize() : 41049 in 0.006095648 s.
• removeBiggestPlane() : True in 1.106412 s.
• getClusters() : True in 0.6244252 s.
• getClustersCount() : 5 in 0.001582623 s.
• Clusters drawn in 0.8556294 s. (Drawn by instantiating prefabs - take 1)
• Clusters drawn in 0.5284262 s. (Drawn by instantiating prefabs - take 2)
• Clusters drawn in 0.7251348 s. (Drawn by creating cubes - take 1)
• Clusters drawn in 0.6915045 s. (Drawn by creating cubes - take 2)

Time measuring (Reading Pointcloud from Kinect)

• readKinectCloud() : True in 6.001034 s.
• getCloudSize() : 102713 in 0.004247189 s.
• removeBiggestPlane() : True in 39.78041 s.
• getClusters() : True in 1.613297 s.
• getClustersCount() : 37 in 0.00138855 s.
• Clusters drawn in 0.6203613 s.

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