change envInstall_simple.sh. add install tf.

sh/envInstall_simple.sh

@@ -37,3 +37,6 @@ gsettings set org.gnome.Vino vnc-password $(echo -n '123456'|base64)
 
 echo 'nvidia' | sudo -S gpasswd --add nvidia dialout
 
+#if not install ros, some program need tf
+echo "nvidia" | sudo -S apt-get install libtf-dev
+

src/detection/detection_ndt_matching/ndt_matching.cpp

@@ -41,7 +41,7 @@
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
-#include <pcl_conversions/pcl_conversions.h>
+//#include <pcl_conversions/pcl_conversions.h>
 
 //#include <ndt_cpu/NormalDistributionsTransform.h>
 #include <pcl/registration/ndt.h>
@@ -61,8 +61,8 @@
 #include "ndtpos.pb.h"
 #include "ndtgpspos.pb.h"
 
-#include <pcl_ros/point_cloud.h>
-#include <pcl_ros/transforms.h>
+//#include <pcl_ros/point_cloud.h>
+//#include <pcl_ros/transforms.h>
 
 #include <ndt_cpu/NormalDistributionsTransform.h>
 

src/tool/view_ndtmatching/.gitignore

@@ -0,0 +1,73 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/tool/view_ndtmatching/main.cpp

@@ -0,0 +1,8 @@
+#include <QCoreApplication>
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    return a.exec();
+}

src/tool/view_ndtmatching/view_ndtmatching.pro

@@ -0,0 +1,58 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which as been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += main.cpp
+
+QMAKE_LFLAGS += -no-pie
+
+INCLUDEPATH += /opt/ros/kinetic/include
+INCLUDEPATH += /usr/include/pcl-1.8
+INCLUDEPATH += /usr/include/pcl-1.10
+INCLUDEPATH += /usr/include/pcl-1.7
+INCLUDEPATH += /usr/include/eigen3
+INCLUDEPATH += /usr/include/vtk-6.3
+INCLUDEPATH += /usr/include/vtk-6.2
+INCLUDEPATH += /usr/include/vtk-7.1
+
+unix:LIBS +=  -lpcl_common\
+        -lpcl_features\
+        -lpcl_filters\
+        -lpcl_io\
+        -lpcl_io_ply\
+        -lpcl_kdtree\
+        -lpcl_keypoints\
+        -lpcl_octree\
+        -lpcl_outofcore\
+        -lpcl_people\
+        -lpcl_recognition\
+        -lpcl_registration\
+        -lpcl_sample_consensus\
+        -lpcl_search\
+        -lpcl_segmentation\
+        -lpcl_surface\
+        -lpcl_tracking\
+        -lpcl_visualization
+
+#INCLUDEPATH += $$PWD/../../../include/
+#LIBS += -L$$PWD/../../../bin/ -lxmlparam -lmodulecomm -livlog -livfault
+
+LIBS += -lboost_system
+#LIBS += -lvtkCommonExecutionModel-6.3 -lvtkCommonCore-6.3 -lvtkRenderingLOD-6.3 -lvtkRenderingCore-6.3 \
+#        -lvtkFiltersSources-6.3
+
+#LIBS += -lvtkCommonExecutionModel-7.1 -lvtkCommonCore-7.1 -lvtkRenderingLOD-7.1 -lvtkRenderingCore-7.1 \
+#        -lvtkFiltersSources-7.1
+

src/tool/view_pcdmap/main.cpp

@@ -112,7 +112,7 @@ void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
     o.z = 0;
 
 
-//    viewer.setCameraPosition(10,0,50,20,0,0,1,1,0);
+//    viewer.setCameraPosition(10,0,50,20,0,0,0,0,0);
 
 
    viewer.resetCamera();