A C++ Toolbox with utilities for 2D laser scan processing, made at IRI (www.iri.upc.edu)
A C++ Toolbox with utilities for 2D laser scan processing, made at IRI (www.iri.upc.edu).
# Installation
Clone the repository in your chosen directory. In a terminal:
```
cd <your/path>
git clone <repo-link>
```
Create a directory to build all the source files:
```
$ mkdir build
$ cd build
```
Compile the source files:
```
$ cmake ..
$ make
```
## Optional dependencies
**Canonical Scan Matching - CSM**
To enable the compilation of iterative closest point algorithms, [CSM](https://github.com/AndreaCensi/csm) should be installed. Clone, compile and install:
```
cd <your/path>
git clone https://github.com/AndreaCensi/csm.git
cd csm
cmake .
make
sudo make install
```
CSM depends on GSL that you probably have installed already. To install it:
