ethz-asl / cmvs_pmvs_catkin Goto Github PK

This is a catkinized version of CMVS and PMVS2, you will need to install ROS, catkin and create a catkin workspace. If you want to embed these packages into an existing workspace, make sure the dependencies listed below are available.

Follow these instructions: Ubuntu 14.04 and ROS Indigo

#Install ROS
sudo add-apt-repository "deb http://packages.ros.org/ros/ubuntu trusty main"
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -
sudo apt-get update

sudo apt-get install ros-indigo-desktop-full liblapack-dev libblas-dev libboost-all-dev python-setuptools git g++ cppcheck default-jre libgtest-dev liblog4cplus-dev cimg-dev python-wstool python-catkin-tools 

# Update ROS environment
sudo rosdep init
rosdep update
echo ". /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

# Create a catkin workspace
export CATKIN_WS=~/catkin_ws
mkdir -p $CATKIN_WS/src
cd $CATKIN_WS
catkin init
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --extend /opt/ros/indigo
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
cd src

# Checkout main repository
git clone [email protected]:ethz-asl/cmvs_pmvs_catkin

# Checkout catkin dependencies
git clone [email protected]:ethz-asl/eigen_catkin.git
git clone [email protected]:ethz-asl/nlopt.git
git clone [email protected]:catkin/catkin_simple.git

# Build packages
catkin build cmvs_catkin pmvs_catkin

Run Examples:

The examples from the original version work as well with some minor adaptations:

• Source the catkin workspace to be able to access the executables: source $CATKIN_WS/devel/setup.bash
• Use rosrun to execute the programs:
  • rosrun cmvs_catkin cmvs
  • rosrun pmvs_catkin genOption
  • rosrun pmvs_catkin pmvs2
• The instructions to run the original datasets are still valid for the most part:

  # KERMIT DATASET
  cd kermit-after-bundler
  rosrun cmvs_catkin cmvs pmvs/
  rosrun pmvs_catkin genOption pmvs/
  sh pmvs/pmvs.sh
  
  # HALL DATASET
  cd hall-after-bundler
  rosrun cmvs_catkin cmvs pmvs/ 20
  rosrun pmvs_catkin genOption pmvs/
  sh pmvs/pmvs.sh
  
  # GENERIC
  rosrun cmvs_catkin cmvs $PMVS_FOLDER 20
  rosrun pmvs_catkin genOption $PMVS_FOLDER
  sh pmvs/pmvs.sh

Dependencies:

• Catkinized Eigen (e.g. ethz-asl/eigen_catkin)

• Catkinized nlopt (e.g. ethz-asl/nlopt_catkin)

• catkin_simple (e.g. ethz-asl/catkin_simple)

• Lapack (will be removed completely if performance is not an issue)

• JPEG

• Boost

• Graclus (libmetis, libmultilevel): Currently there is no need to add it, because a pared-down version is already included, but it will be replaced with a catkinized version.

Autors:

• Modified CMVS version by Pierre Moulon

• Original CMVS version by Yasutaka Furukawa