Library for pose estimation of known objects, code api and user manual are available here.

You can build pel inside a catkin workspace with catkin tools so that it is available to other catkin packages, or you can build and install it system wide with pure CMake. Either path you choose you will need the following dependencies.

• pcl >= 1.7.2
• Boost libraries
• hdf5 (libhdf5-dev on Ubuntu)
• GCC > 4.7 (or equivalent compiler that supports -std=c++11)
• CMake >= 2.8.3

Navigate to your catkin source space (for most people it is just ~/catkin_ws/src/) then clone the project:

cd ~/catkin_ws/src/
git clone [email protected]:Tabjones/Pose-Estimation-Library.git

Then build the workspace with catkin build

cd ..
catkin build

Done.

Clone the project wherever you want:

git clone [email protected]:Tabjones/Pose-Estimation-Library.git pel
cd pel

Make a build directory, for out-of-source build:

mkdir build
cd build

Configure CMake with defaults:

cmake ..

Or check and change variables:

ccmake ..

Then build and install

make
sudo make install

Done.

To link a project against pel, its CMakeLists.txt must contain the following lines:

find_package (pel)
include_directories(${pel_INCLUDE_DIRS})
link_directoriers(${pel_LIBRARY_DIRS})
target_link_libraries (>your_program< ${pel_LIBRARIES} )

Example programs are available into ExampleApps folder and are built and installed by default.

This project is mirrored on:

• Github.
• Bitbucket.
• Gitlab.