fix install dependencies script

 * fix README format problem
 * Change pcl util c++ programs to use c++ 14 instead of  c++11 (for PCL 1.10)

README.md

@@ -18,7 +18,9 @@ Apart from CUDA, which you need to install by yourself, you can use the help scr
 
 For PDrAW, there should be a `native-wrapper.sh` file that you to keep a track of. It's usually in `groundsdk/out/pdraw-linux/staging/native-wrapper.sh`(see [here](https://developer.parrot.com/docs/pdraw/installation.html))
 
-## Hardaware dependecies
+For COLMAP, you will need a vocab tree for feature matching. You can download them at https://demuc.de/colmap/#download . In our tests, we took the 256K version.
+
+## Hardware dependecies
 
 To recreate the results of the study, you will need these hardware pieces :
  - Parrot Anafi
@@ -106,10 +108,10 @@ Here are the key steps of the dataset creation :
 Structure your input folder so that it looks like this:
 ```
 ├── Pictures
-│   ├── anafi
-│   │   ├── raw
-│   │   ├── rectilinear
-│   └── apn
+│   ├── anafi
+│   │   ├── raw
+│   │   ├── rectilinear
+│   └── apn
 ├── Videos
 │   ├── 4K30
 │   └── 720p120
@@ -231,7 +233,7 @@ This will essentially do the same thing as the script, in order to let you chang
     --ImageReader.mask_path Path/to/images_mask/ \
     ```
 
-    We also recommand you make your own vocab_tree with image indexes, this will make the next matching steps faster.
+    We also recommand you make your own vocab_tree with image indexes, this will make the next matching steps faster. You can download a vocab_tree at https://demuc.de/colmap/#download : We took the 256K version in our tests.
 
     ```
     colmap vocab_tree_retriever \
@@ -507,7 +509,6 @@ This will essentially do the same thing as the script, in order to let you chang
     Importante note : This operation doesn't work for scale adjustments which can be a problem with very large models.
 
     Option 2 : construct a PLY file from lidar scans and register the reconstructed cloud with respect to the lidar, with PCL or CloudCompare. We do this way (and not from lidar to reconstructed), because it is usually easier to register the cloud with less points with classic ICP)
-
     ```
     ETHD3D/build/NormalEstimator \
     -i /path/to/lidar.mlp \
@@ -525,11 +526,10 @@ This will essentially do the same thing as the script, in order to let you chang
 
     Or use CloudCompare : https://www.cloudcompare.org/doc/wiki/index.php?title=Alignment_and_Registration
     Best results were maintened with these consecutive steps :
-
     - Crop the /path/georef_dense.ply cloud, otherwise the Octomap will be very inefficient, and the cloud usually has very far outliers
     - Apply noise filtering on cropped cloud
     - Apply fine registration, with final overlap of 50%, scale adjustment, and Enable farthest point removal
-    - save inverse of resulting registration
+    - Save inverse of resulting registration
 
     For the fine registration part, as said earlier, the aligned cloud is the reconstruction and the reference cloud is the lidar
 

install_dependencies.sh

 #!/bin/bash
 
-# This scrip helps you install the necessary tools to construct a depth enabled dataset with Anafi videos
-# Note that CUDA needs to be already installed
+# This script helps you install the necessary tools to construct a depth enabled dataset with Anafi videos
+# Note that CUDA and Anaconda need to be already installed
+# Also note that for repo to work, git needs to be parametrized with email and name.
+
+
+# This command makes sure that the .so files pointed by the cmake commands are the right ones
+# Alternatively, you can add conda to the cmake folders with the following command :
+# CMAKE_PREFIX_PATH=${CONDA_PREFIX:-"$(dirname $(which conda))/../"}
+# Note that the alternative will trigger erros if you move or delete the anaconda folder.
+
+eval "$(conda shell.bash hook)"
+conda deactivate
 
 sudo apt update
 sudo apt install -y git \
-    repo \
+    curl \
     cmake \
     build-essential \
     pkg-config \
@@ -19,11 +29,9 @@ sudo apt install -y git \
     qtbase5-dev \
     libqt5opengl5-dev \
     libcgal-dev \
-    libvtk6-dev \
     libflann-dev \
     cmake libgmp-dev \
     libgoogle-glog-dev \
-    qt5-default \
     libqwt-qt5-dev \
     libpcl-dev \
     libproj-dev \
@@ -36,9 +44,9 @@ sudo apt install -y git \
 
 git clone https://github.com/laurentkneip/opengv.git
 cd opengv \
-  && mkdir build \
+  && mkdir -p build \
   && cd build \
-  && cmake ..
+  && cmake .. \
   && make -j8
 sudo make install
 cd ../../
@@ -46,7 +54,7 @@ cd ../../
 git clone https://github.com/opencv/opencv.git
 cd opencv \
   && git checkout 4.1.2 \
-  && mkdir build \
+  && mkdir -p build \
   && cd build \
   && cmake -D WITH_CUDA=OFF .. \
   && make -j8
@@ -64,9 +72,9 @@ cd dataset-pipeline \
 git clone https://ceres-solver.googlesource.com/ceres-solver
 cd ceres-solver \
   && git checkout $(git describe --tags) \
-  && mkdir build \
-  && cd build
-  && cmake .. -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF
+  && mkdir -p build \
+  && cd build \
+  && cmake .. -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF \
   && make -j8
 sudo make install
 cd ../../
@@ -74,13 +82,19 @@ cd ../../
 git clone https://github.com/colmap/colmap.git
 cd colmap \
   && git checkout dev \
-  && mkdir build
+  && mkdir -p build \
   && cd build \
   && cmake .. \
   && make -j8
 sudo make install
 cd ../../
 
+mkdir -p ~/.bin
+PATH="${HOME}/.bin:${PATH}"
+curl https://storage.googleapis.com/git-repo-downloads/repo > ~/.bin/repo
+chmod a+rx ~/.bin/repo
+
+conda activate
 mkdir -p groundsdk \
   && cd groundsdk \
   && repo init -u https://github.com/Parrot-Developers/groundsdk-manifest -m release.xml \
@@ -90,4 +104,4 @@ cd ../
 
 pip install -r requirements.txt
 
-./build_pcl.sh
\ No newline at end of file
+./build_pcl_util.sh
\ No newline at end of file

pcl_util/CMakeLists.txt

 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+set(CMAKE_CXX_STANDARD 14)
 
 project(Parrot_photogrammetry_PCLutils)
 
 find_package(PCL REQUIRED)
 find_package(COLMAP REQUIRED)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fopenmp")
 
 include_directories(${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})