Transformation and Registration Toolkit
- Introduction
- Dependencies
- Build Instructions
- Documentation
This package provides C++ classes to hold ordinary coordinates and compute coordinate transformations. It also comprises classes to estimate the underlying transformation between two point sets such as a rigid, affine or projective transformation. All transformations are available in 2D and 3D. In addition there are some classes to solve fitting problems like sphere fitting etc.
This library builds on top of Eigen 3, a C++ template library for linear algebra (http://eigen.tuxfamily.org). To work properly, it must be installed on your system.
You also need the Fast Library for Approximate Nearest Neighbors (FLANN) (http://www.cs.ubc.ca/research/flann).
The installation of OpenCV (http://opencv.org) is optional.
On Linux systems the above mentioned software packages are often availabe through the system's package management software. On Ubuntu or Debian-based systems just run:
apt-get install libeigen3-dev
apt-get install libflann-dev
apt-get install libopencv-dev (optional)
mkdir build && cd build
cmake -G "Unix Makefiles" ..
make && make install
If you also want to build the unit tests, change the cmake command as follows:
cmake -D BUILD_TEST=1 -G "Unix Makefiles" ..
The default installation location on Unix-like systems is /usr/local. Thus the default installation directories are
/usr/local/lib
/usr/local/include/TRTK
You can change this by setting CMAKE_INSTALL_PREFIX:
cmake -DCMAKE_INSTALL_PREFIX:PATH=/home/christoph/usr/local .
From the Visual Studio command line run the following commands inside the trunk folder:
mkdir build
cd build
cmake -G "Visual Studio 10" ..
Alternatively, you can run cmake-gui. You can adapt the properties as necessary.
Start the solution and buid the project. By building the subproject "INSTALL" the library is installed.
The default installation location on Windows is C:\Program Files.
You can find the documentation at http://RWTHmediTEC.github.io/TRTK.
The documentation can be generated using 'Doxygen' Version 1.7.2 or higher (www.doxygen.org). You also need the 'dot' tool provided by 'Graphviz' (www.graphviz.org).
First install both software packages as denoted on their web sites.
NOTE: 'Graphviz' might need to be in the system variable 'path'.
Then you can either generate the documentation (a) using the graphical tool 'doxywizard' or (b) by running 'doxygen' on the console:
(a) Run 'doxywizard' and open the file './doc/Doxyfile'. Then open the 'Run' tab (below 'Step 2') and click on 'Run doxygen'. Now the documentation is generated.
(b) On command line change to the './doc' directory and enter 'doxygen'.
Now you should have an 'html' folder in './doc'. Open './doc/html/index.html' to browse through the documentation.
NOTE: The HTML output is fine-tuned for Doxygen 1.7.2. If the output looks kind of ugly in later versions, just leave the 'HTML_FOOTER' tag as well as the 'HTML_STYLESHEET' tag located in './doc/Doxyfile' empty.