This library contains fast and sparse implementations of multi-dimensional map representations using Normal Distributions Transforms.
License: BSD 3-Clause "New" or "Revised" License
Can you provide basic usage examples about how to convert PointCloud to NDT map or perform matching?
The map can be visualized using PointcloudPulisher,This is my launch file.
velodyne.txt
I am using ubuntu 18.04 and ros melodic.
I can compile cslibs_ndt and its dependencies successfully, if I leave cslibs_ndt_2d out.
However, I try to use cslibs_mapping, which relies on cslibs_ndt_2d, and get the following errors:
[ 53%] Building CXX object cslibs_mapping/CMakeFiles/cslibs_mapping_publishers.dir/src/publisher/distributions_publisher.cpp.o
c++: internal compiler error: Killed (program cc1plus)
cslibs_ndt_2d/CMakeFiles/cslibs_ndt_2d_map_loader.dir/build.make:62: recipe for target 'cslibs_ndt_2d/CMakeFiles/cslibs_ndt_2d_map_loader.dir/src/ndt_map_loader.cpp.o' failed
make[2]: *** [cslibs_ndt_2d/CMakeFiles/cslibs_ndt_2d_map_loader.dir/src/ndt_map_loader.cpp.o] Error 4
CMakeFiles/Makefile2:5601: recipe for target 'cslibs_ndt_2d/CMakeFiles/cslibs_ndt_2d_map_loader.dir/all' failed
make[1]: *** [cslibs_ndt_2d/CMakeFiles/cslibs_ndt_2d_map_loader.dir/all] Error 2
I am using ROS Melodic / Ubuntu 18.04
edit. My bad, it was just classic OOM
Can you provide test data for ndt_2d/3d, please?
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