semantic fusion中的caffe 配置记录 Ubuntu16.04

elasticfusion的配置以及环境说明参考上一篇博客

接下来说caffe的配置：

详细的配置过程说明参考：
caffe的官方指导
semanticfusion中关于caffe的安装指导

1.安装依赖项

sudo apt-get install libprotobuf-dev libleveldb-dev libsnappy-dev libopencv-dev libhdf5-serial-dev protobuf-compiler
sudo apt-get install --no-install-recommends libboost-all-dev
sudo apt-get install libopenblas-dev
sudo apt-get install the python-dev
sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev
sudo apt-get install libopenblas-dev
sudo apt-get install libgflags-dev libgoogle-glog-dev liblmdb-dev

2.编译

cd semanticfusion/caffe_semanticfusion
mkdir build
cd build
cmake ..
make -j

接下来进行最后一步：编译Semanticfusion

cd semanticfusion
mkdir build
cd build
cmake ..

这个时候会报错：

CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  FindOpenNI2.cmake:62 (find_package_handle_standard_args)
  CMakeLists.txt:13 (find_package)

原因是OpenNI2这个库找不到。事实上，不但找不到，编译也没有成功，库文件压根不存在去哪里找？
整了一晚上才解决，OpenNI2这个库真的是太不人性化了！
具体怎么解决的其实我也有点迷，试了好多次要放弃的时候突然编译成功了？可以按照这个步骤试一下：

1. 成功编译OpenNI2

没错之前的并没有编译成功。。。运行elasticfusion时即使编译不成功也不会报错

cd semanticfusion/elasticfusionpublic/OpenNI2/Packaging/Linux
sudo ./install.sh
cat OpenNIDevEnvironment >> ~/.bashrc

然后关闭终端重新打开（更新.bashrc文件）

cd semanticfusion/elasticfusionpublic/OpenNI2
make

如果没有报错，路径 semanticfusion/elasticfusionpublic/OpenNI2/Bin/x64-Release下面有18个文件（夹），而且有libopenNI2.so这个文件，说明OpenNI2编译成功了。

2.修改semanticfusion的FindOpenNI2.cmake文件

因为原来的FindOpenNI2.cmake文件找不到OpenNI2的库文件

gedit semanticfusion/FindOpenNI2.cmake

原来的文件：

find_path(OPENNI2_INCLUDE_DIR OpenNI.h
          HINTS
            ${PC_OPENNI_INCLUDEDIR}
            ${PC_OPENNI_INCLUDE_DIRS}
          PATHS
            "${PROGRAM_FILES}/OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../../code/OpenNI2/Include"
            /usr/include
            /user/include
          PATH_SUFFIXES openni2 ni2
)

以及

find_library(OPENNI2_LIBRARY
             NAMES OpenNI2
             HINTS
               ${PC_OPENNI_LIBDIR}
               ${PC_OPENNI_LIBRARY_DIRS}
             PATHS
               "${PROGRAM_FILES}}/OpenNI2/Redist"
               "${PROGRAM_FILES}/OpenNI2"
               "${CMAKE_SOURCE_DIR}/../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../code/OpenNI2/Bin/x64-Release"
               /usr/lib
               /user/lib
             PATH_SUFFIXES ${OPENNI_PATH_SUFFIXES}
)

两块代码分别改写为：

find_path(OPENNI2_INCLUDE_DIR OpenNI.h
          HINTS
            ${PC_OPENNI_INCLUDEDIR}
            ${PC_OPENNI_INCLUDE_DIRS}
          PATHS
            "${PROGRAM_FILES}/OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/elasticfusionpublic/OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Include"
            "${CMAKE_SOURCE_DIR}/../../../code/OpenNI2/Include"
            /usr/include
            /user/include
          PATH_SUFFIXES openni2 ni2
)

以及

find_library(OPENNI2_LIBRARY
             NAMES OpenNI2
             HINTS
               ${PC_OPENNI_LIBDIR}
               ${PC_OPENNI_LIBRARY_DIRS}
             PATHS
               "${PROGRAM_FILES}}/OpenNI2/Redist"
               "${PROGRAM_FILES}/OpenNI2"
               "${CMAKE_SOURCE_DIR}/elasticfusionpublic/OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../OpenNI2/Bin/x64-Release"
               "${CMAKE_SOURCE_DIR}/../../../code/OpenNI2/Bin/x64-Release"
               /usr/lib
               /user/lib
             PATH_SUFFIXES ${OPENNI_PATH_SUFFIXES}
)

其实就是多加了两行寻找库文件的路径。

改写完成后保存退出：

cd semanticfusion
mkdir build
cd build
cmake ..
make -j

输出：

[100%] Linking CXX executable SemanticFusion
[100%] Built target SemanticFusion

完成！