rteammco / integral-volume-features

Integral Volume Features

This is an implementation of the algorithms introduced by

Gelfand, Natasha, et al. "Robust global registration." Symposium on geometry processing. Vol. 2. No. 3. 2005.

and

Garstka, Jens, and Gabriele Peters. "Fast and robust keypoint detection in unstructured 3-D point clouds." Informatics in Control, Automation and Robotics (ICINCO), 2015 12th International Conference on. Vol. 2. IEEE, 2015.

Build Instructions

1. Make sure all the required tools and libraries are installed (see below).
2. git clone https://github.com/teammcr192/integral-volume-features.git
3. cd integral-volume-features
4. mkdir build
5. cd build
6. cmake ..
7. make
8. ./ivfeatures

Required Tools and Libraries

The current CMakeLists.txt file only supports Linux (tested on Ubuntu 14.04) due to the current setup of the GTest library. Making it cross-platform is a TODO.

• GCC 4.7+ (uses C++11 features)
• CMake 2.8+: https://cmake.org/
• PCL (Point Cloud Library): http://pointclouds.org/
  • NOTE: The official binaries for Ubuntu are only supported up to version 14.04 (http://pointclouds.org/downloads/linux.html).
• Google Test: https://github.com/google/googletest
  • This code uses both Google Test and Google Mock components. See INSTALL_GTEST for install instructions.