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Intern
    Lehrstuhl für Informatik VII - Robotik und Telematik

    Software for the ICRA Tutorial Industrial Applications with Large-Scale 3D Point Cloud Processing

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    Here we provide the software and the data sets used  throughout the tutorial.Please bring your own laptop.

    In general, there are two options for participants

    1. Use the provided virtual machine. It is an ubuntu system, which contains all needed software and data.
    2. Use the software natively and download in addition the data sets.

    Data Sets

    The data sets for the tutorial can be downloaded here (2 GByte).

    Virtual Machine

    Please follow the link to download the VM as zip file (3.7GByte). Alternatively you can download the uncompressed vdi file here (11 GByte).
    The password for the VM is osboxes.com

    Native solutions

    Opens external link in new window3DTK - The 3D Toolkit

    Linux and MacOS

    1. check out the current revision from sourceforge, e.g.
      svn checkout http://svn.code.sf.net/p/slam6d/code/trunk slam6d-code
    2. use cmake to configure the project, e.g.
      cd slam6d-code && ccmake .
    3. use the following configuration as ON
      WITH_COLLISION
      WITH_FBR
      WITH_FREEGLUT
      WITH_OPENCV_NONFREE
      WITH_OPENMP
      WITH_SEGMENTATION
      WITH_SHAPE_DETECTION
      WITH_SHOW
      WITH_TOOLS
    4. if you need to install packages, cmake will tell you. Under ubuntu you will need
      subversion
      cmake-curses-gui
      libboost-all-dev
      freeglut3-dev
      libxmu-dev
      libxi-dev
    5. In addition, you need to install OpenCV. As we use SIFT operators, you will need to download you own version of OpenCV, configure it, and compile it. OpenCV uses also cmake.
    6. compile the project, e.g., by
      make

    On MacOS please use Macports to install the library dependencies.

    Windows

    The above process should also work under windows. However, we we provide a set of 64-bit executables for convenience (requires Visual C++ Redistributable Packages for Visual Studio 2013. Please download the executables here.

    Opens external link in new windowLas Vegas Toolkit

    Linux and MacOS

    1. Dependencies
      OpenCV 2 >= 2.4.9 including non-free

      git
      libeigen3-dev
      libflann-dev
      libvtk5-dev
      libvtk5-qt4-dev
      libcgal-dev
      libboost-all-dev
      libqt4-dev
      libqt4-dev-bin
      freeglut3-dev

      On MacOS we used Macports to install the library dependencies.

    2. Install software

      Use git to get the source code:

      git clone https://github.com/lasvegasrc/Las-Vegas-Reconstruction.git

      If you are using cmake < 3.0 switch to branch cmake2.8:
      git checkout cmake2.8
       
    3. Compile software

      cd Las-Vegas-Reconstruction
      mkdir build
      cd build
      cmake .. && make

    Windows

    You can download an installer here