This is the implementation of the paper "Efficient Surface Detection for Augmented Reality on 3D Point Clouds" by Yen-Cheng Kung, Yung-Lin Huang and Shao-Yi Chien.

To run this code,
PCL 1.7(Point Cloud Library) and its supplementary is required,
but PCL 1.8 is recommended.

• Usage:
  mkdir build
  cd build
  cmake ..
  make
  ./EXE [options as printed]

If you use this source code, please cite the paper: "Efficient Surface Detection for Augmented Reality on 3D Point Clouds" by Yen-Cheng Kung, Yung-Lin Huang, Shao-Yi Chien,
which can be found here: http://dl.acm.org/citation.cfm?id=2949058

Comments can be found in the codes for better understanding.
In short,
ESD.cpp stands for Efficient Surface Detection, which include all the implementations of the paper.
viewerESD.cpp is a viewer for XYZRGBL, since PCL does not provide a viewer in this format. Useful for viewing the result after ESD.cpp.
extraPlanarRefinements.cpp allow multiple frames, ex: frames from a video, to be recombined. This file is not included in default usage and some work still need to be done.

For any further question,
please feel free to contact me by "angusthefrog@gmail.com".
Or simply open an issue here is also welcome.