This was the original implementation of Polylidar, written in Typescript. This repository had a lot of trial and error and was meant to test different ideas. A new version written in C++ and as a python extension is found here. This (Typescript) version is not maintained and is missing some important features that the C++ version provides (it may also have bugs). Additionally the parameters (function arguments) to Polylidar in this version are different. This repository is meant as a quick demo.
There are two demos provided.
A 2D demo with fixed parameters. This is just meant to show the speed of polylidar. Planes/Regions are extracted with separate colors. The concave hull is shown in green with interior holes in orange. This demo is inspired (even pulled code from) the delaunator library. Link to live demo
This shows the 3D component of Polylidar. Simulated point clouds from a LiDAR sensor are provide of building rooftops. Parameters can be changed dynamically with a widget on the left. You can toggle different point clouds with a dropdown. Link to live demo
- Delaunay Triangulation using
delaunator- 1 ms - Plane Extraction - 1.3 ms
- Concave Hull Extraction - 1.5 ms
- cd
dir npm installnpm testnpm run demo-2dnpm run demo-3d
Please see the algorithm description in the paper.