How to generate executable files of Kinfu ?

classic Classic list List threaded Threaded
4 messages Options
Reply | Threaded
Open this post in threaded view
|

How to generate executable files of Kinfu ?

haopo2005
This post has NOT been accepted by the mailing list yet.
This post was updated on .
Hi,
 I want to generate the executable file of pcl_gpu_kinfu_large_scale and pcl_gpu_kinfu.
 I have downloaded the source  code from github pcl-1.8.0-rc1. And my os is ubuntu 14.04 armhf (Nvidia TK1)
 
 I have chosen  the option in the CMake-gui:
BUILD_CUDA
BUILD_GPU
BUILD_gpu_kinfu
BUILD_gpu_kinfu_large_scale
BUILD_apps
BUILD_examples

There is no  error  after the compile:
ubuntu@tegra-ubuntu:~/share/PCL/pcl/pcl-pcl-1.8.0rc1/build/bin$ cd ..
ubuntu@tegra-ubuntu:~/share/PCL/pcl/pcl-pcl-1.8.0rc1/build$ make
[  3%] Built target pcl_common
[  3%] Built target pcl_octree
[  3%] Built target pcl_io_ply
[ 10%] Built target pcl_io
[ 10%] Built target pcl_convert_pcd_ascii_binary
[ 11%] Built target pcl_converter
[ 11%] Built target pcl_hdl_grabber
[ 12%] Built target pcl_pcd_convert_NaN_nan
[ 12%] Built target pcl_pcd_introduce_nan
[ 12%] Built target pcl_ply2obj
[ 12%] Built target pcl_ply2ply
[ 12%] Built target pcl_ply2raw
[ 12%] Built target pcl_plyheader
[ 14%] Built target pcl_stereo
[ 14%] Built target pcl_kdtree
[ 15%] Built target pcl_search
[ 18%] Built target pcl_sample_consensus
[ 24%] Built target pcl_filters
[ 24%] Built target pcl_2d
[ 31%] Built target pcl_features
[ 32%] Built target pcl_ml
[ 36%] Built target pcl_segmentation
[ 40%] Built target pcl_visualization
[ 40%] Built target pcl_hdl_viewer_simple
[ 40%] Built target pcl_openni2_viewer
[ 40%] Built target pcl_pcd_image_viewer
[ 40%] Built target pcl_timed_trigger_test
[ 40%] Built target pcl_viewer
[ 40%] Built target pcl_vlp_viewer
[ 40%] Built target pcl_people
[ 45%] Built target pcl_surface
[ 46%] Built target pcl_cuda_segmentation
[ 46%] Built target pcl_cuda_features
[ 47%] Built target pcl_cuda_sample_consensus
[ 47%] Built target pcl_gpu_containers
[ 47%] Built target pcl_gpu_utils
[ 49%] Built target pcl_gpu_octree
[ 49%] Built target pcl_gpu_segmentation
[ 51%] Built target pcl_gpu_features
[ 55%] Built target pcl_gpu_kinfu
[ 59%] Built target pcl_gpu_kinfu_large_scale
[ 60%] Built target pcl_tracking
[ 68%] Built target pcl_registration
[ 71%] Built target pcl_recognition
[ 73%] Built target pcl_keypoints
[ 73%] Built target pcl_add_gaussian_noise
[ 73%] Built target pcl_boundary_estimation
[ 74%] Built target pcl_cluster_extraction
[ 75%] Built target pcl_compute_cloud_error
[ 75%] Built target pcl_compute_hausdorff
[ 75%] Built target pcl_compute_hull
[ 75%] Built target pcl_concatenate_points_pcd
[ 75%] Built target pcl_crf_segmentation
[ 75%] Built target pcl_crop_to_hull
[ 75%] Built target pcl_demean_cloud
[ 75%] Built target pcl_elch
[ 75%] Built target pcl_extract_feature
[ 75%] Built target pcl_fast_bilateral_filter
[ 75%] Built target pcl_fpfh_estimation
[ 76%] Built target pcl_generate
[ 76%] Built target pcl_gp3_surface
[ 77%] Built target pcl_grid_min
[ 77%] Built target pcl_icp
[ 77%] Built target pcl_icp2d
[ 77%] Built target pcl_linemod_detection
[ 78%] Built target pcl_local_max
[ 78%] Built target pcl_lum
[ 78%] Built target pcl_marching_cubes_reconstruction
[ 78%] Built target pcl_match_linemod_template
[ 78%] Built target pcl_mesh2pcd
[ 79%] Built target pcl_mesh_sampling
[ 79%] Built target pcl_mls_smoothing
[ 80%] Built target pcl_morph
[ 80%] Built target pcl_ndt2d
[ 80%] Built target pcl_ndt3d
[ 81%] Built target pcl_normal_estimation
[ 81%] Built target pcl_obj2pcd
[ 81%] Built target pcl_obj2ply
[ 81%] Built target pcl_obj2vtk
[ 81%] Built target pcl_obj_rec_ransac_accepted_hypotheses
[ 82%] Built target pcl_obj_rec_ransac_hash_table
[ 82%] Built target pcl_obj_rec_ransac_model_opps
[ 82%] Built target pcl_obj_rec_ransac_orr_octree
[ 82%] Built target pcl_obj_rec_ransac_orr_octree_zprojection
[ 82%] Built target pcl_obj_rec_ransac_result
[ 83%] Built target pcl_obj_rec_ransac_scene_opps
[ 83%] Built target pcl_octree_viewer
[ 83%] Built target pcl_organized_pcd_to_png
[ 84%] Built target pcl_outlier_removal
[ 84%] Built target pcl_passthrough_filter
[ 84%] Built target pcl_pcd2ply
[ 84%] Built target pcl_pcd2png
[ 84%] Built target pcl_pcd2vtk
[ 84%] Built target pcl_pcd_change_viewpoint
[ 84%] Built target pcl_pclzf2pcd
[ 84%] Built target pcl_plane_projection
[ 85%] Built target pcl_ply2pcd
[ 85%] Built target pcl_ply2vtk
[ 86%] Built target pcl_png2pcd
[ 86%] Built target pcl_poisson_reconstruction
[ 86%] Built target pcl_progressive_morphological_filter
[ 87%] Built target pcl_radius_filter
[ 87%] Built target pcl_registration_visualizer
[ 87%] Built target pcl_sac_segmentation_plane
[ 87%] Built target pcl_spin_estimation
[ 87%] Built target pcl_tiff2pcd
[ 87%] Built target pcl_train_linemod_template
[ 88%] Built target pcl_train_unary_classifier
[ 88%] Built target pcl_transform_from_viewpoint
[ 88%] Built target pcl_transform_point_cloud
[ 88%] Built target pcl_unary_classifier_segment
[ 88%] Built target pcl_uniform_sampling
[ 89%] Built target pcl_vfh_estimation
[ 89%] Built target pcl_virtual_scanner
[ 90%] Built target pcl_voxel_grid
[ 90%] Built target pcl_voxel_grid_occlusion_estimation
[ 90%] Built target pcl_vtk2obj
[ 90%] Built target pcl_vtk2pcd
[ 90%] Built target pcl_vtk2ply
[ 91%] Built target pcl_xyz2pcd
[ 91%] Built target pcl_outofcore
[ 91%] Built target pcl_outofcore_print
[ 92%] Built target pcl_outofcore_process
[ 92%] Built target pcl_apps
[ 92%] Built target pcl_convolve
[ 92%] Built target pcl_dinast_grabber
[ 92%] Built target pcl_face_trainer
[ 93%] Built target pcl_feature_matching
[ 93%] Built target pcl_fs_face_detector
[ 93%] Built target pcl_grabcut_2d
[ 93%] Built target pcl_multiscale_feature_persistence_example
[ 93%] Built target pcl_nn_classification_example
[ 93%] Built target pcl_pcd_organized_edge_detection
[ 93%] Built target pcl_pcd_organized_multi_plane_segmentation
[ 94%] Built target pcl_pcd_select_object_plane
[ 94%] Built target pcl_ppf_object_recognition
[ 94%] Built target pcl_pyramid_surface_matching
[ 94%] Built target pcl_statistical_multiscale_interest_region_extraction_example
[ 94%] Built target pcl_stereo_ground_segmentation
[ 94%] Built target pcl_surfel_smoothing_test
[ 94%] Built target pcl_test_search_speed
[ 95%] Built target pcl_example_stereo_baseline
[ 95%] Built target pcl_example_check_if_point_is_valid
[ 96%] Built target pcl_example_copy_point_cloud
[ 96%] Built target pcl_example_get_max_min_coordinates
[ 96%] Built target pcl_example_organized_point_cloud
[ 96%] Built target pcl_example_scope_time
[ 96%] Built target pcl_example_half_edge_mesh
[ 96%] Built target pcl_example_cpc_segmentation
[ 96%] Built target pcl_example_extract_clusters_normals
[ 96%] Built target pcl_example_lccp_segmentation
[ 96%] Built target pcl_example_region_growing
[ 96%] Built target pcl_example_supervoxels
[ 96%] Built target pcl_example_extract_indices
[ 96%] Built target pcl_example_remove_nan_from_point_cloud
[ 96%] Built target pcl_example_difference_of_normals
[ 97%] Built target pcl_example_fast_point_feature_histograms
[ 98%] Built target pcl_example_normal_estimation
[ 98%] Built target pcl_example_point_feature_histograms
[ 99%] Built target pcl_example_principal_curvatures_estimation
[ 99%] Built target pcl_example_rift_estimation
[100%] Built target pcl_example_shape_contexts
[100%] Built target pcl_example_spin_images
[100%] Built target pcl_example_outofcore
[100%] Built target pcl_example_outofcore_with_lod
[100%] Built target pcl_example_get_keypoints_indices
[100%] Built target pcl_example_sift_keypoint_estimation
[100%] Built target pcl_example_sift_normal_keypoint_estimation
[100%] Built target pcl_example_sift_z_keypoint_estimation


However I can’t find any executable file about GPU under the  ../build/bin path

Can anybody help me?

Thanks
Reply | Threaded
Open this post in threaded view
|

Re: How to generate executable files of Kinfu ?

VictorLamoine
Administrator
Hello,

Please use https://github.com/Nerei/kinfu_remake, the code is much better and should compile without any problem.

Bye
Reply | Threaded
Open this post in threaded view
|

Re: How to generate executable files of Kinfu ?

haopo2005
This post has NOT been accepted by the mailing list yet.
The Reason seems to be kinfu not compatible with OpenNI2.
How can I make kinfu compiled with OpenNI2?
There are many OpenNI API in kinfu_app.cpp

Thanks
Reply | Threaded
Open this post in threaded view
|

Re: How to generate executable files of Kinfu ?

haopo2005
This post has NOT been accepted by the mailing list yet.
This post was updated on .
In reply to this post by VictorLamoine
Hi,
I have solved the problem with the help of jolesinski. 

You can follow this post:
http://www.pcl-users.org/kinfu-largescale-on-Jetson-Tk1-board-problem-td4036372.html

More specifically, you need to modify the cpp and cmakelist.
There is a diff.txt provided by jolesinski.
https://gist.github.com/jolesinski/8664fe63ff5014c74495


Now I can run Kinfu_app and Kinfu_large_scale on my tk1, thanks to jolesinski