安装测试点云配准4PCS算法1_super 4pcs python-CSDN博客

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安装测试点云配准4PCS算法

2016年12月30日 11:25:54

阅读数：1887

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：

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虚拟机安装ubuntu 14.04 LTS

虚拟机安装ubuntu 14.04 LTS

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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

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图形：Gallium 0.4 on SVGA3D; build: RELEASE;

 图形：Gallium 0.4 on SVGA3D; build: RELEASE;

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操作系统：64位

操作系统：64位

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磁盘：39.9

磁盘：39.9

先在github拉一下源代码：

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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

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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：

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find_path(ANN_DIR ann_1.1.2)
IF(DEFINED ANN_DIR)
set(ANN_INCLUDE_DIR ” ${ANN_DIR}/include")  </li><li class="">  include_directories( $ {ANN_INCLUDE_DIR} )
if (MSVC)
set(ANN_LIBS ” ${ANN_DIR}/lib/libANN.dll")  </li><li class="">  else()  </li><li class="alt">    set(ANN_LIBS "$ {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

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find_path(ANN_DIR ann_1.1.2)
IF(DEFINED ANN_DIR)
set(ANN_INCLUDE_DIR ” ${ANN_DIR}/include")  </li><li class="">  include_directories( $ {ANN_INCLUDE_DIR} )
if (MSVC)
set(ANN_LIBS ” ${ANN_DIR}/lib/libann.dll")  </li><li class="">  else()  </li><li class="alt">    set(ANN_LIBS "$ {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。

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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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    MathJax.Hub.Config({
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    (function(){
        var btnReadmore = (".MathJax").remove();     MathJax.Hub.Config({             "HTML-CSS": {                     linebreaks: { automatic: true, width: "94%container" },                    imageFont: null            },            tex2jax: {                preview: "none"            },            mml2jax: {                preview: 'none'            }    });    (function(){        var btnReadmore = $(".MathJax").remove(); MathJax.Hub.Config({ "HTML-CSS": { linebreaks: { automatic: true, width: "94%container" }, imageFont: null }, tex2jax: { preview: "none" }, mml2jax: { preview: 'none' } }); (function(){ var btnReadmore =$ ("#btn-readmore"); if(btnReadmore.length>0){ var winH =

(window).height();vararticleBox= ( w i n d o w ) . h e i g h t ( ) ; v a r a r t i c l e B o x = $(window).height(); var articleBox =$ ("div.article_content"); var artH = articleBox.height(); if(artH > winH*2){ articleBox.css({ 'height':winH*2+'px', 'overflow':'hidden' }) btnReadmore.click(function(){ articleBox.removeAttr("style"); $(this).parent().remove(); }) }else{ btnReadmore.parent().remove(); } } })()

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