NDT Lib

These libraries are from AutoWare and ndt_omp

Environment

for ndt_gpu，CUDA 9.0 is required.

1. check GPU version: lspci | grep -i nvidia
2. check NVIDIA version: sudo dpkg --list | grep nvidia-*
3. check CUDA version: nvcc --version

• ndt_cpu/gpu/tku/omp_registration are from Autoware，different form pcl_ndt
• ndt_omp is from koide3's Project

Usage:

1. 将lib和include文件夹丢在你的项目中

2. 在cmakelist中合适位置添加

find_package(OpenMP REQUIRED) #可选，仅ndt_omp用到
if(OPENMP_FOUND)
    message(STATUS "OPENMP FOUND")
    set(OpenMP_FLAGS ${OpenMP_CXX_FLAGS})  # or if you use C: ${OpenMP_C_FLAGS}
    set(OpenMP_LIBS gomp)
endif()

include_directories(include) #头文件目录
link_directories(lib) #找到.so

链接相应的库

target_link_libraries(xx ${OpenMP_LIBS} ndt_cpu ndt_omp) #OpenMP_LIBS是ndt_omp需要用到的,ndt_cpu不需要

3. 在main.cpp中引入头文件

#include <pclomp/ndt_omp.h> //按include相对路径即可
#include <ndt_cpu/NormalDistributionsTransform.h>

4. 写法可参考example/test_omp示例