NDT_Lib

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各种版本的NDT动态库

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# NDT Lib

These libraries are from [AutoWare](https://github.com/autowarefoundation/autoware)  and [ndt_omp](https://github.com/koide3/ndt_omp.git)   
---
## 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  
```makefile
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

```makefile
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

```c++
#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

NDT_Lib

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