nlamprian / icp Goto Github PK

The code was applying std::abs to the difference of two unsigned integers, which results in an unsigned integer, which means there is no reason to take the absolute value. So I think you want to take the difference of two signed integers according to:

    for (uint i = 0; i < rows; ++i)
        ASSERT_LT (std::abs ((int)refMax[i] - (int)results[i]), eps);

that made the compiler error go away.

Loading 1st point cloud from ../data/kg_pc8d_1.bin
Loading 2nd point cloud from ../data/kg_pc8d_2.bin
Error when accessing kernel file: basic_ios::clear (/home/ac2-vision/ICP/build/external/CLUtils/src/CLUtils/src/CLUtils.cpp:224)

I kept getting a compile error that Eigen/Dense header was not found. It was being included inside testsICP.hpp with #include <eigen3/Eigen/Dense>. I replaced the link with #include <Eigen/Dense> and then included the eigen include directories in the CMakeLists.txt for the test source according to:

if ( BUILD_TESTS )

find_package ( Threads REQUIRED )

include_directories ( ${CLUtils_INCLUDE_DIR} 
                      ${GTEST_INCLUDE_DIRS}
                      ${RBC_INCLUDE_DIR}
                      ${OPENGL_INCLUDE_DIRS}
                      ${EIGEN_INCLUDE_DIR} )

Finally got everything to compile, but when I run the tests, I receive the following output:

DrHalftone:ICP-build dllau$ ./bin/icp_tests_icp --profiling
[==========] Running 11 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 11 tests from ICP
[ RUN ] ICP.getLMs
clEnqueueNDRangeKernel (CL_INVALID_PROGRAM_EXECUTABLE)

I'm running on a Mac Book Pro running 10.11.1. Any help would be greatly appreciated.