libpointmatcher安装和使用

libpointmatcher介绍：

　　libpointmatcher is a modular library implementing the Iterative Closest Point (ICP) algorithm for aligning point clouds. It has applications in robotics and computer vision.

安装：

　　1、提前准备

　　a. Installing Boost
　　 安装命令 sudo apt-get install libboost-all-dev

　　b. Installing Git
　　 安装命令 sudo apt-get install git-core

　　c. Installing CMake
　　 sudo apt-get install cmake cmake-gui

　　2、正式安装

　　a .Installing Eigen
　　 安装命令 sudo apt-get install libeigen3-dev

       b. Installing libnabo
　　git clone git://github.com/ethz-asl/libnabo.git
　　cd libnabo
　　gedit install.sh
　　复制如下的命令到文件里面
　　

#!/bin/bash
echo start
SRC_DIR=`pwd`
BUILD_DIR=${SRC_DIR}/build
mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR}
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ${SRC_DIR}
make
sudo make install
echo done!

　　执行./install.sh

　　c. Compiling the Documentation
　　安装命令 sudo apt-get install doxygen
　　安装命令 sudo apt-get install texlive-full

　　d. Installing libpointmatcher
　　cd ~/Libraries/
　　git clone git://github.com/ethz-asl/libpointmatcher.git
　　cd libpointmatcher
　　gedit install.sh
　　复制如下的命令到文件里面

#!/bin/bash
echo start
SRC_DIR=`pwd`
BUILD_DIR=${SRC_DIR}/build
mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR}
cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo ${SRC_DIR}
make
sudo make install
echo done!

　　执行./install.sh
编译用例：
　　在libpointmatcher的example目录下
　　修改CMakeLists.txt为

cmake_minimum_required(VERSION 3.5)
add_compile_options(-std=c++11)
find_package(Boost 1.45.0 COMPONENTS system filesystem regex)

#if(Boost_FOUND)
include_directories(${Boost_INCLUDE_DIRS})

add_executable(pmicp icp.cpp)
target_link_libraries(pmicp pointmatcher ${Boost_LIBRARIES})
install(TARGETS pmicp RUNTIME DESTINATION bin)

add_executable(icp_simple icp_simple.cpp)
target_link_libraries(icp_simple pointmatcher ${Boost_LIBRARIES})

add_executable(align_sequence align_sequence.cpp)
target_link_libraries(align_sequence pointmatcher ${Boost_LIBRARIES})

add_executable(list_modules list_modules.cpp)
target_link_libraries(list_modules pointmatcher ${Boost_LIBRARIES})

add_executable(build_map build_map.cpp)
target_link_libraries(build_map pointmatcher ${Boost_LIBRARIES})

add_executable(compute_overlap compute_overlap.cpp)
target_link_libraries(compute_overlap pointmatcher ${Boost_LIBRARIES})

add_executable(icp_advance_api icp_advance_api.cpp)
target_link_libraries(icp_advance_api pointmatcher ${Boost_LIBRARIES})

add_executable(icp_customized icp_customized.cpp)
target_link_libraries(icp_customized pointmatcher ${Boost_LIBRARIES})

#endif()

 

　　进入example的build文件夹下执行make,会在当先目录下生成可执行文件
添加环境变量：
　　gedit /etc/profile
　　在最后面添加 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/
　　source /etc/profile
执行用例：
　　在build目录下执行  ./icp_simple ../../examples/data/car_cloud400.csv ../../examples/data/car_cloud401.csv

　　执行结果：

　　Final transformation:
　　0.983804 -0.179247 -0.0575061
　　0.179247 0.983804 -0.228765
　　0 0 1

　　无报错成功！