jvgomez / fast_methods Goto Github PK

Hi, guys,
Thanks for providing this useful repo for fast marching. Unfortunately, when I compile the code, there are some mistakes as follows:

CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Examples are being built and installed.
OpenCV Found
-- Configuring done
-- Generating done
-- Build files have been written to: /home/chenjiusi/Documents/fast_methods/build
Consolidate compiler generated dependencies of target fast_methods
[ 40%] Built target fast_methods
Consolidate compiler generated dependencies of target fm_benchmark
Consolidate compiler generated dependencies of target full_example
Consolidate compiler generated dependencies of target test_fm
[ 60%] Linking CXX executable full_example
[ 60%] Linking CXX executable test_fm
[ 70%] Linking CXX executable fm_benchmark
/usr/bin/ld: CMakeFiles/test_fm.dir/test_fm.cpp.o: in function _GLOBAL__sub_I_main': test_fm.cpp:(.text.startup+0x3f): undefined reference to fftw_init_threads'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/CMakeFiles/test_fm.dir/build.make:174: examples/test_fm] Error 1
/usr/bin/ld: CMakeFiles/full_example.dir/full_example.cpp.o: in function _GLOBAL__sub_I_main': full_example.cpp:(.text.startup+0x3f): undefined reference to fftw_init_threads'
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/Makefile2:209: examples/CMakeFiles/test_fm.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [examples/CMakeFiles/full_example.dir/build.make:174: examples/full_example] Error 1
make[1]: *** [CMakeFiles/Makefile2:183: examples/CMakeFiles/full_example.dir/all] Error 2
/usr/bin/ld: CMakeFiles/fm_benchmark.dir/src/benchmark/fm_benchmark.cpp.o: in function _GLOBAL__sub_I_main': fm_benchmark.cpp:(.text.startup+0x3f): undefined reference to fftw_init_threads'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/fm_benchmark.dir/build.make:174: fm_benchmark] Error 1
make[1]: *** [CMakeFiles/Makefile2:131: CMakeFiles/fm_benchmark.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

Hi! Thanks for the great code base.

I'm on g++/gcc 7.5 and I followed the instructions here starting in the fast_methods directory.

I run this:

fast_methods/build$ make -j4
make: *** No targets specified and no makefile found.  Stop

Do you know what I'm doing wrong?

Hello,

Thank you for making this public. I find the library very useful in my current research.

I found a couple of small bugs when testing the code.

1. I found that the velocity map wasn't saturated at the correct distance when setting maxDistance != -1. This has two causes. First, the velocity shouldn't first be normalized (by dividing it by maxValue), when doing the saturation step. Secondly, the division by getLeafSize() shouldn't be there, since the leaf size is already accounted for in the Eikonal solver. With these changes, you get the saturation at the correct distance in real units, regardless of leaf size.
2. Also related to leaf size, when using heuristics, the setHeuristicTime forgets to take the leaf size into account, which leads to strange behaviour when leafSize != 1. I think the least intrusive fix is to multiply the return value by getLeafSize() in getPrecomputedDistance: return distances_[idx_dist] * grid_->getLeafSize();.

I made these changes on my end, so I'm not asking you to do anything, I just thought you'd might like to know. Once again, thanks!