SearchAndRescue

Download, build and run:

# Download :
git clone --recursive https://github.com/MapsHD/SearchAndRescue.git

# Enter project directory :
cd SearchAndRescue

# Configure project :
cmake -B build -S . -DCMAKE_BUILD_TYPE=Release

# Build :
cmake --build build --config Release -j 8

# Run :
.\build\Release\cave-traversal-tool.exe

Run prebuilt:

# Download :
git clone --recursive https://github.com/MapsHD/SearchAndRescue.git

# Enter project directory :
cd SearchAndRescue

# Open *binary* in Windows explorer :
explorer.exe .

# Double click on cave-traversal-tool.exe

Movement:

• Left mouse button + mouse movement - camera rotation
• Right mouse button + mouse movement - moving camera and camera target up / down / left / right in screen space
• Mouse wheel - zoom in / out

Preparing data:

• Using HDMapping step 1 process the dataset:

• Using HDMapping step 2 load sesssion (*.mjs) file from step 1 result

• After loading data in step 2 export global point cloud in LAZ format

• After loading data in step 2 export trajectory - format does not matter as it will be adjusted during loading

Loading data:

• Load trajectory csv file:

• Load environment (global LAZ scan):

• Load object (PLY model) - stretchers model is provided in repository directory binary:

Traversing trajectory:

• If point cloud seems to sparse use option for fixed LOD:

• In Trajectory section:
  • 1. Enable autoplay - object will move along trajectory N steps every frame
  • 2. N step count
  • 3. Slider to adjust pose index manually (using double left click it can be set using input prompt)
  • 4. Use only when auto play is disabled (it is hard to use guizmo when it is moving) - you can adjust object orientation at current pose to manually fit it into surrounding

Multi-viewport

• In Viewports section:
  • 1. Enable 1, 2 or 4 viewports
  • 2. For viewports 1, 2 and 3 you can lock camera to given axis
  • 3. Viewport 0 is locked to free camera