Installation_Ubuntu_14.04_LTS

Installation Instructions for Ubuntu 14.04 LTS

Note: You need to have OpenCV 2.4 installed to be able to use this code with Ubuntu 14. If you have different versions installed, make sure that cmake finds the OpenCV version 2.4 (I recommend using ccmake to configure paths).

Clone

In order to use this repository with Ubuntu 14, you need to checkout the tag u16cv2.

    git clone [email protected]:vseib/point-cloud-donkey.git && cd point-cloud-donkey && git checkout u16cv2

Install Dependencies

sudo apt install cmake cmake-curses-gui libeigen3-dev libflann-dev libboost-all-dev \
     libvtk5-dev libopencv-dev zlib1g-dev libjsoncpp-dev libgomp1 libblitz0-dev \
     liblog4cxx10-dev libblitz0-dev

Install PCL

point-cloud-donkey requires at least PCL version 1.8.0. However, only PCL 1.7.2 is available in Ubuntu packages for 14.04. Therefore, PCL version 1.8.0 must be installed from source. See the official PCL instructions or follow the steps below:

• If you want to reproduce the classification results reported here, download PCL release 1.8.0 from GitHub, otherwise use PCL release 1.8.1
• unpack the archive

    tar xvfj pcl-pcl-1.8.0.tar.gz

• fix a bug in SHOT initialization
  • open the file pcl-pcl-1.8.0/features/include/pcl/features/shot.h
  • change line 97 to be maxAngularSectors_ (32),
• execute the following commands:

    cd pcl-pcl-1.8.0 && mkdir build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make -j4
    sudo make -j4 install

Optionally: Install VCG Library

You can find instructions for installation on the VCG Library webpage. To include VCG in the compilation process

• open the file point-cloud-donkey/src/implicit_shape_model/CMakeLists.txt
• go to line 8 and set the USE_VCG flag to true

Compiling

Execute the following commands to compile the framework:

    cd point-cloud-donkey && mkdir build && cd build
    cmake ../src
    make -j4

The binaries will be placed in the folder point-cloud-donkey/build/bin.