ubuntu16.04运行Elastic Fusion

#####仅作为笔记
环境：
Ubuntu 14.04, 15.04 or 16.04 (Though many other linux distros will work fine)
CMake
OpenGL
CUDA >= 7.0
OpenNI2
SuiteSparse
Eigen
zlib
libjpeg
Pangolin
[librealsense] (https://github.com/IntelRealSense/librealsense) - Optional (for Intel RealSense cameras)

贴出build.sh的安装内容，建议手动安装相应的包，像cuda需要根据自己计算机的显卡配置

#!/bin/bash

mkdir deps &> /dev/null
cd deps

#Add necessary extra repos
version=$(lsb_release -a 2>&1)
if [[ $version == *"14.04"* ]] ; then
    wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1404/x86_64/cuda-repo-ubuntu1404_7.5-18_amd64.deb
    sudo dpkg -i cuda-repo-ubuntu1404_7.5-18_amd64.deb
    rm cuda-repo-ubuntu1404_7.5-18_amd64.deb
    sudo apt-get update
    sudo apt-get install cuda-7-5
elif [[ $version == *"15.04"* ]] ; then
    wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1504/x86_64/cuda-repo-ubuntu1504_7.5-18_amd64.deb
    sudo dpkg -i cuda-repo-ubuntu1504_7.5-18_amd64.deb
    rm cuda-repo-ubuntu1504_7.5-18_amd64.deb
    sudo apt-get update
    sudo apt-get install cuda-7-5
elif [[ $version == *"16.04"* ]] ; then
    wget http://developer.download.nvidia.com/compute/cuda/repos/ubuntu1604/x86_64/cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
    sudo dpkg -i cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
    rm cuda-repo-ubuntu1604_8.0.44-1_amd64.deb
    sudo add-apt-repository ppa:openjdk-r/ppa 
    sudo apt-get update
    sudo apt-get install cuda-8-0
else
    echo "Don't use this on anything except 14.04, 15.04, or 16.04"
    exit
fi

sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-7-jdk freeglut3-dev libglew-dev libsuitesparse-dev libeigen3-dev zlib1g-dev libjpeg-dev

#Installing Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON
make -j8
cd ../..

#Up to date OpenNI2
git clone https://github.com/occipital/OpenNI2.git
cd OpenNI2
make -j8
cd ..

#Actually build ElasticFusion
cd ../Core
mkdir build
cd build
cmake ../src
make -j8
cd ../../GPUTest
mkdir build
cd build
cmake ../src
make -j8
cd ../../GUI
mkdir build
cd build
cmake ../src
make -j8

1.cuda

#安装Nvidia驱动的两种方式
https://blog.csdn.net/linhai1028/article/details/79445722?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.edu_weight&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-2.edu_weight
或者
https://blog.csdn.net/weixin_42546496/article/details/88640174?utm_medium=distribute.wap_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-10.wap_blog_relevant_no_pic2&depth_1-utm_source=distribute.wap_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-10.wap_blog_relevant_no_pic2

#安装cuda和cudnn
https://blog.csdn.net/wanzhen4330/article/details/81699769
http://blog.sina.com.cn/s/blog_4b0020f30102xgfz.html

2. 依赖

sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-7-jdk freeglut3-dev libglew-dev cuda-7-5 libsuitesparse-dev libeigen3-dev zlib1g-dev libjpeg-dev

3. Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR="" -DCPP11_NO_BOOST=ON
make -j4

4. OpenNI2

git clone https://github.com/occipital/OpenNI2.git
cd OpenNI2
make -j4

5. 配置 Elastic Fusion

git clone https://github.com/mp3guy/ElasticFusion.git

#build Core
cd ElasticFusion/Core
mkdir build && cd build
cmake ../src
make -j4
cd ../../

#build GPUTest
cd GPUTest
mkdir build && cd build
cmake ../src
make -j4
cd ../../

#build GPU
cd GUI
mkdir build && cd build
cmake ../src
make -j4
cd ../../

6. 测试
   数据集下载：

 http://www.doc.ic.ac.uk/~sleutene/datasets/elasticfusion/dyson_lab.klg

测试数据集：

./ElasticFusion -l dyson_lab.klg

7. 测试结果