安装测试点云配准4PCS算法
今天有空,想看看点云配准4PCS算法,据说是一个高效鲁棒性很好的算法。
闲话少说,还是记录一下我的安装过程吧。
免得过段时间我又忘记了~~~~~~
首先先说一下我的电脑配置:
- 虚拟机安装ubuntu 14.04 LTS
虚拟机安装ubuntu 14.04 LTS
- 内存:2.1GB处理器:Intel® Core™ i5-4590 CPU @ 3.30GHz × 3
内存:2.1GB处理器:Intel® Core™ i5-4590 CPU @ 3.30GHz × 3
- 图形:Gallium 0.4 on SVGA3D; build: RELEASE;
图形:Gallium 0.4 on SVGA3D; build: RELEASE;
- 操作系统:64位
操作系统:64位
- 磁盘:39.9
磁盘:39.9
先在github拉一下源代码:
- git clone https://github.com/nmellado/Super4PCS
git clone https://github.com/nmellado/Super4PCS
官方安装教程:官方安装教程
安装依赖项:Eigen,OpenCV,boost请自行安装
下面安装libANN-1.1.2,CFITSIO
- sudo apt-get install update
- sudo apt-get install libann-dev
- sudo apt-get install libcfitsio3-dev
- sudo ldconfig
sudo apt-get install update
sudo apt-get install libann-dev
sudo apt-get install libcfitsio3-dev
sudo ldconfig
打开CMakeList文件,作如下修改:
- find_path(ANN_DIR ann_1.1.2)
- IF(DEFINED ANN_DIR)
- set(ANN_INCLUDE_DIR ”{ANN_DIR}/include"</span><span>) </span></span></li><li class=""><span> include_directories( {ANN_DIR}/include"</span><span>) </span></span></li><li class=""><span> include_directories( {ANN_INCLUDE_DIR} )
- if (MSVC)
- set(ANN_LIBS ”{ANN_DIR}/lib/libANN.dll"</span><span>) </span></span></li><li class=""><span> <span class="keyword">else</span><span>() </span></span></li><li class="alt"><span> set(ANN_LIBS <span class="string">" {ANN_DIR}/lib/libANN.dll"</span><span>) </span></span></li><li class=""><span> <span class="keyword">else</span><span>() </span></span></li><li class="alt"><span> set(ANN_LIBS <span class="string">" {ANN_DIR}/lib/libANN.a”)
- endif()
- ENDIF(DEFINED ANN_DIR)
find_path(ANN_DIR ann_1.1.2)
IF(DEFINED ANN_DIR)
set(ANN_INCLUDE_DIR "${ANN_DIR}/include")
include_directories( ${ANN_INCLUDE_DIR} )
if (MSVC)
set(ANN_LIBS "${ANN_DIR}/lib/libANN.dll")
else()
set(ANN_LIBS "${ANN_DIR}/lib/libANN.a")
endif()
ENDIF(DEFINED ANN_DIR)
修改为
- find_path(ANN_DIR ann_1.1.2)
- IF(DEFINED ANN_DIR)
- set(ANN_INCLUDE_DIR ”{ANN_DIR}/include"</span><span>) </span></span></li><li class=""><span> include_directories( {ANN_DIR}/include"</span><span>) </span></span></li><li class=""><span> include_directories( {ANN_INCLUDE_DIR} )
- if (MSVC)
- set(ANN_LIBS ”{ANN_DIR}/lib/libann.dll"</span><span>) </span></span></li><li class=""><span> <span class="keyword">else</span><span>() </span></span></li><li class="alt"><span> set(ANN_LIBS <span class="string">" {ANN_DIR}/lib/libann.dll"</span><span>) </span></span></li><li class=""><span> <span class="keyword">else</span><span>() </span></span></li><li class="alt"><span> set(ANN_LIBS <span class="string">" {ANN_DIR}/lib/libann.a”)
- endif()
- ENDIF(DEFINED ANN_DIR)
find_path(ANN_DIR ann_1.1.2)
IF(DEFINED ANN_DIR)
set(ANN_INCLUDE_DIR "${ANN_DIR}/include")
include_directories( ${ANN_INCLUDE_DIR} )
if (MSVC)
set(ANN_LIBS "${ANN_DIR}/lib/libann.dll")
else()
set(ANN_LIBS "${ANN_DIR}/lib/libann.a")
endif()
ENDIF(DEFINED ANN_DIR)
好了,安装完依赖以后,可以开始编译了。
- cd Super4PCS
- mkdir build
- cd build
- cmake -DCMAKE_BUILD_TYPE=Release -DANN_DIR=/usr/ ..
- make
cd Super4PCS
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DANN_DIR=/usr/ ..
make
正常来说,应该不会出现什么问题了。在build文件夹中生成可执行文件Super4PCS
下载数据,测试:
github:https://github.com/nmellado/Super4PCS
wiki:https://github.com/nmellado/Super4PCS/wiki
web:http://geometry.cs.ucl.ac.uk/projects/2014/super4PCS/
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