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BeeHash

This repository cointains the source code of a software that given the coordinates for a set of 3D points creates a data structure that finds all points that are nearer than a X distance from any other point, with pretty good performance. The coordinates of the datasets are in latitude, longitude and heigth above sea level.

Datasets are under datasets directory.

Dependencies

  • GCC compiler
  • Boost headers. Usually, this is available on your linux distro repos.
  • Point Cloud Library if you want to visualize the results

Compile and run

Compile using make. This will generate several executables executables.

  • beehash_all_times will benchmark the Parse_file and the find_collisions functions from the data structure. It will run the code 100 times for each file, and return the mean, max and min time for each function.

  • beehash_single_dataset_times will do the same but only with the dataset which name is be provided via standard input.

  • beehash will generate a file with the coordinates of the points that surpass the threshold (100 meters).

  • create_pcd will generate a .pcd file from the dataset as specified.

  • open3d_visualize will generate a graph containing the points as specified in the .pcd file. It requires open3d python library to be installed. It requires open3d python library to be installed.