readme.md

Compliling on Linux

1.Install PCL

• Run these commands to install dependencies first:

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev -y
sudo apt-get install cmake -y
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev -y
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common -y
sudo apt-get install libflann1.9 libflann-dev -y
sudo apt-get install libeigen3-dev -y
sudo apt-get install libboost-all-dev -y
sudo apt-get install libvtk7.1p-qt libvtk7.1p libvtk7-qt-dev -y
sudo apt-get install libqhull* libgtest-dev -y
sudo apt-get install freeglut3-dev pkg-config -y
sudo apt-get install libxmu-dev libxi-dev -y
sudo apt-get install mono-complete -y
sudo apt-get install openjdk-8-jdk openjdk-8-jre -y

• Then visit PCL Docs to build and install PCL.

2. Install igraph

• Tutorials of install igraph can be found at igraph Reference Manual.

3. Build MAC

• Option 1 (purely on the command line): Use CMake to generate Makefiles and then make.
  • You can simply run

    $ cd path-to-root-dir-of-MAC
    $ mkdir Release
    $ cd Release
    $ cmake -DCMAKE_BUILD_TYPE=Release ..
    $ make
    

• Option 2: Use any IDE that can directly handle CMakeLists files to open the CMakeLists.txt in the root directory of MAC. Then you should have obtained a usable project and just build it. I recommend using CLion.
• NOTICE: Please compile in RELEASE mode!

4. DEMO

• Keep the complied file and demo in the same folder, then run the command to show an example:

./MAC --demo

• You should see terminal output like this:

Start registration.
 graph construction: 4.50404
 coefficient computation: 0.607463
0.417615->min(0.417615 0.798804 1.69403)
 clique computation: 0.457012
 clique selection: 0.0262053
 hypothesis generation & evaluation: 0.0609555
9762 : 528867
14 154.948
3.56584 3.4174 3.76196 3.62198 4.8172 5.63182 4.99794 4.46311 4.50627 5.37475 5.32872 5.37915 4.23573 5.59911 
  0.978491  -0.126114    0.16325   0.837719
   0.13669   0.989074 -0.0552203   0.161821
 -0.154502  0.0763472   0.985038   0.107174
         0          0          0          1
Press space to register.

• Two visualizations will be shown:

  • Selected matches:

  • Registration:
    The original status of input point clouds: The status after transformation (Do not forget to press the SPACE key):