ndt_omp
Multi-threaded and SSE friendly NDT algorithm
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Download Latest Version (.zip)- build.yml
- align.cpp
- 251370668.pcd
- 251371071.pcd
- screenshot.png
- Dockerfile
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- gicp_omp.h
- gicp_omp_impl.hpp
- ndt_omp.h
- ndt_omp_impl.hpp
- voxel_grid_covariance_omp.h
- voxel_grid_covariance_omp_impl.hpp
- gicp_omp.cpp
- ndt_omp.cpp
- voxel_grid_covariance_omp.cpp
- .clang-format
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
π Installation Guide
1. Get the code
git clone https://github.com/koide3/ndt_omp
Downloads the entire project code from GitHub to your computer.
cd ndt_omp
Moves into the project folder you just downloaded.
2. Docker
Easy RecommendedPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
docker build -f docker/foxy/Dockerfile -t ndt-omp .
Builds a runnable image based on the Dockerfile.
docker run -p 8080:80 ndt-omp
Runs the built image as an actual container.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
3. CMake
MediumPrerequisites
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
// repository documentation
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