WIN-TEASER++

The original repository code running platform is linux，this repository is the unofficial windows version of teaser++,only the C++ version was tested. official version :https://github.com/MIT-SPARK/TEASER-plusplus

Compared to the previous repository, added some header files under windows in win directory:

• win
  • dirent.h
  • getopt.c
  • getopt.h
  • unistd.h
  • win_time.h

Environment

• PCL1.10
• CMAKE 3.2.0
• Eigen 3.4 (https://eigen.tuxfamily.org/index.php?title=Main_Page)
• Visual stdio 2019

1.Installation

I use cmake-gui to generate the project,but there was an error during the first configure, so I downloaded this part of the code ahead of time and put it in the build directory.

CMake Error at CMakeLists.txt:98 (add subdirectory):add subdirectory given source "D:/workspace/TEASER-plusplus-master/build1/pmc-src " which is not an existing directory.

CMake Error at CMakeLists.txt:107(add subdirectory):add subdirectory given source "D:/workspace/TEASER-plusplus-master/build1/tinyply-src" which is not an existing directory.

CMake Error at CMakeLists.txt:109 (target include directories):Cannot specify include directories for target "tinyply" which is not built by this project.

• source
  • googletest-src
  • pmc-src
  • pybind11-src
  • spectra-src
  • tinyply-src

• build steps:
  • opencv cmake-gui
  • select source code path
  • select where build path
  • configure
  • select CMAKE_INSTALL_PREFIX(As illustrated in following figure )
  • select Eigen3_DIR(As illustrated in following figure)
  • configure
  • generate

2.Visual stdio Generate dll

• open project ->build->INSTALL

Install directory: C:/Program Files (x86)/teaserpp (If you change it, it's your own address)

• Install directory/teaserpp:

├─bin
│      tinyply.dll
│      tinyplyd.dll
│
├─include
│  │  tinyply.h
│  ├─include
│  ├─pmc
│  └─teaser
│         
└─lib

3.Test

In order to facilitate the reading of data, I modified the code and used PCL to read the point cloud

• code path: ./example/teaser_cpp_fpfh/teaser_cpp_fpfh.cc

• cmake-gui->configure->generate->open_project->build

• copy_file pmc.dll teaser_features.dll teaser_io.dll teaser_registration.dll to example\teaser_cpp_fpfh\build\Release

• results:

          TEASER++ Results
=====================================
Estimated rotation:
  0.996344  0.0743931   0.042007
-0.0738955   0.997178 -0.0132802
-0.0428764  0.0101275   0.999029

Estimated translation:
-137.943
 30.9094
-33.1828

Time taken (s): 0.010525