PCL Mean and Covariance

Experiments with mean and covariance computation in PCL.

Installation

1. Clone this repository

   Clone with submodules and pass the --recursive-submodules flag:

   $ git clone https://github.com/taketwo/pcl-mean-and-covariance.git --recursive-submodules
   

2. Configure with CMake

   $ cd <path to>/pcl-mean-and-covariance/
   $ mkdir build
   $ cd build/
   $ cmake ..
   

   Note: CMake 3.5 or higher is required.

3. Install datamash

   This is required to build and run the benchmark. On later versions of Ubuntu, this can be installed as a prebuilt package with the following command:

   $ sudo apt install datamash
   

   However on older systems it may be necessary to install datamash from source. See the datamash download page for details.

4. Build and run benchmarks

   From the build folder, run:

   $ make benchmarks
   

5. Build and run tests

   From the build folder, run:

   $ make tests
   

Troubleshooting

If, when running make benchmarks you get the following error:

Console.cpp:27:20: fatal error: curses.h: No such file or directory
  #include <curses.h>

This is because the ncurses module is not installed on your system. You can install it with the command:

$ sudo apt-get install libncurses5-dev