To install the repository:
Go to main directory
mkdir build
cd build
cmake ..
make -j8
./pcl_visualizer
Depending on the version there might be an linker error - in this case try replacing CMakeLists.txt with CMakeLists_V2.txt
There are 2 example pcd files in the example folder to test the algorihtm. When loading point cloud, the main window does not change its view automatically and has to be changed using keyboard/mouse to alighn the point cloud in the window.
Depending on the accuracy of the employed LIDAR some parameters need to be tuned accordingly -- especially the parameters for the segmentation process.
This is the GUI version of the Stairway Detection. A stand alone version can be found at:
https://github.com/ThomasWestfechtel/StairwayDetection
The processing steps of the algorihm are explained in our papers:
"Robust stairway-detection and localization method for mobile robots using a graph-based model and competing initializations" (https://journals.sagepub.com/doi/full/10.1177/0278364918798039) (IJRR)
"3D graph based stairway detection and localization for mobile robots" (http://ieeexplore.ieee.org/document/7759096/) (IROS).
