Voxel planes creates a realtime mesh from a continuously updated pointcloud.

Authors: Julian Ryde Vikas Dhiman

Original paper: pdf

Running voxel planes mapping demo with Asus xtion

  • Install ROS and dependencies

    For Ubuntu 12.10:

    sudo sh -c 'echo "deb quantal main" > /etc/apt/sources.list.d/ros-latest.list'
    wget -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install ros-groovy-ros-base ros-groovy-openni-launch ros-groovy-nav-msgs

The following assume that you download everything to your home directory

  • Install FOVIS library.

    • Download fovis

    • Make and install

      cd libfovis
      mkdir build
      cd build
      cmake ..
      sudo make install
    • execute in terminal or put in .bashrc

      export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
  • Install FOVIS ROS wrapper

    svn co
    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/fovis_lib
    sudo rosdep init
    rosdep update
    rosmake fovis
    rosmake fovis_lib
  • Get edgevoxel repo

    git clone
  • Install packages for edgevoxels

    sudo apt-get install python-scipy python-matplotlib python-numpy mayavi2
  • Add edgevoxels/ros/edgevoxels to the ROS package path

    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/edgevoxels/ros
  • Run voxel_planes.launch

    roslaunch edgevoxels voxel_planes.launch

Rerunning experiments

  • Build cpp dependencies.

    sudo apt-get install libqhull-dev sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl sudo apt-get update sudo apt-get install libpcl-all cd cpp/; mkdir build cmake .. make

  • Add src/ and lib/ to the PYTHONPATH

    export PYTHONPATH=$PYTHONPATH:src/:lib/

  • Running experiments on thermocolorlab dataset. The following will save experimental results in the data/ directory. *.vtk files can be visualized with pcl_viewer

    python scripts/ data/thermocolorlab_scan000.pcd

  • The plots in the paper can be plotted by using (it uses the data saved by above script in the data directory):

    python scripts/ data/thermocolorlab_scan000.pcd

Running mapping on the freiburg dataset.

  • Run the mapping script on freiburg dataset. It will automatically download the dataset.

    python scripts/

  • The above script places the *.vtk file in /dev/shm directory. To visiualize it run the following script:

    python src/


This material is based upon work supported by the Fed- eral Highway Administration through CUBRC’s Coopera- tive Agreement No. DTFH61-07-H-00023 and NASA under grants NNX12AQ69G and NNX12AM06G. Any opinions, findings, conclusions or recommendations are those of the authors and do not necessarily reflect the views of the FHWA or NASA.