I am trying to compile your code for ubuntu 18.04. It get the following windows related compilation error:

~/mv-lm-icp/include/dirent.h:19:10: fatal error: windows.h: No such file or directory
#include <windows.h>

I tried to comment windows.h in dirent.h. But may other errors related to windows started popping up.
How do I remove these windows related errors? Is there any old commit that works fine with linux/ubuntu?

Hi, sir ,i am new to pcl, when i learn about how to incrementally register pair of clouds in pcl tutorial , i meet some problems;
In general ,i want to register one pair of clouds ,then register other one ,until all clouds. Thus i can obtain all transform matrixs of each pair of clouds , then i incrementally multiply matrixs ,finally get global matrix of any clouds.

i test with standford buddha model;( originally, i only use ndt ,but it always has a little error ,)
First problem:
i use ndt algorithm to get a Initial registration,then i use icp to register pair of clouds,but still has a little error ,for example buddha's foot can't register perfect, i can't adjust parameters well manually!

Seconde problem:
when i just only multiply matrixs to obtain global matrix ,this operation is not good , because each matrix has some error ,finally global matrix has big error! my friend tell me that i should use g2o,but i don't learn how to use it !

So ,i hope sir can help me ,give me some idea about multiple pointclouds registration ,thanks !

When I build the project, the severity code indicates that
the project file line does not display the status
Error (active) E0135 class "Eigen::Map< const Sophus::SE3d, 0, Eigen::Stride< 0, 0> >" No member "internalJacobian" multiview D:\ku\mv-lm-icp-master\mv-lm-icp-master\include\sophus_se3.h 49
How to solve this?

Hi, and thank you for making this code available. I am running it on my own data, from a depth camera, and no matter what i do, I get a crash here:

  static ceres::CostFunction* Create(const Eigen::Vector3d& dst, const Eigen::Vector3d& src) {
        return (new ceres::AutoDiffCostFunction<PointToPointErrorGlobal, 3, 4, 3, 4, 3>(new PointToPointErrorGlobal(dst, src)));
    }

with the error:

Exception thrown: read access violation.
dst was 0x2164D6CB740.

Could you point me in the right direction to solve this?

thank you again!

I saw you have recently updated this, but I still have an issue in cmake with the gflw external:

---------------GLFW-------------------
Looking for pthread.h
Looking for pthread.h - not found
Found Threads: TRUE
Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
Using Win32 for window creation
CMake Error at ext/glfw/CMakeLists.txt:403 (install):
install INSTALL(EXPORT) given keyword "EXPORT_LINK_INTERFACE_LIBRARIES",
but target "glfw" does not have policy CMP0022 set to NEW.

This may be an issue with which version gets downloaded into the /ext folder ?

Can you help ?

BTW - I used vcpkg to build ceres (very easy), and then just make sure you have the -DTOOLCHAIN flag set in cmake to point to vcpk when building the solution. This makes the Ceres issue on Windows a pice of cake!

After compiling, the main_multiview.cpp file can run normally, but the interface is always white and no point cloud is displayed。
May I ask what is the reason and where should I modify it。

After merging the compile-on-windows branch, it doesn't work anymore for Linux.

The last time I compiled it on Linux was on an Ubuntu 14.04 LTS release, but at the moment I want it to compile on a recent Ubuntu release 17.10 / 18.04 LTS once released since the Ceres package there is much more up-to-date.

g2o has to be compiled from source or installed via ros on linux.