diff --git a/README.md b/README.md index d929a07110efe0ec42cf5ec7424240fede17f1d7..f9e8baa941f6496aedd115160804202e0b963568 100644 --- a/README.md +++ b/README.md @@ -4,22 +4,22 @@ A C++ Toolbox with utilities for 2D laser scan processing, made at IRI (www.iri. Clone the repository in your chosen directory. In a terminal: -``` +```sh cd <your/path> git clone <repo-link> ``` Create a directory to build all the source files: -``` -$ mkdir build -$ cd build +```sh +mkdir build +cd build ``` Compile the source files: -``` -$ cmake .. -$ make +```sh +cmake .. +make ``` ## Optional dependencies @@ -27,7 +27,7 @@ $ make **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: -``` +```sh cd <your/path> git clone https://github.com/AndreaCensi/csm.git cd csm @@ -37,46 +37,27 @@ sudo make install ``` CSM depends on GSL that you probably have installed already. To install it: -``` +```sh sudo apt install libgsl-dev ``` **FALKO Library - falkolib** -To enbale scan matching for loop closure purposes. The library is added as submodule in the deps folder. In order to initialize the submodule use the following commands: -``` +Loop closure search is implemented using FALKO Library. In order to download, compile and install it: +```sh cd <your/path> -git submodule init -git submodule update -``` -In order to compile and install the repository: -``` -cd <your/path> -cd deps/openslam_falkolib/ +git clone https://gitlab.iri.upc.edu/mobile_robotics/falkolib.git +cd falkolib mkdir build cd build cmake .. make +sudo make install ``` -You can also install the library into a system directory. To change the install directory you must set cmake environment -variable ${CMAKE_INSTALL_PREFIX} (e.g. using command "ccmake .." -before calling "cmake .."). +variable `${CMAKE_INSTALL_PREFIX}` (e.g. using command `ccmake ..` +before calling `cmake ..`). Its default value on UNIX-like/Linux systems is "/usr/local". -After compiling library falkolib, run the command: -``` -sudo make install -``` -The command "sudo" is required only if ${CMAKE_INSTALL_PREFIX} +The `sudo` is required only if `${CMAKE_INSTALL_PREFIX}` is a system diretory managed by administrator user root. -Such command copies: -- header files of ${falkolib_ROOT}/include/falkolib to - ${CMAKE_INSTALL_PREFIX}/include/falkolib/ -- library files ${falkolib_ROOT}/lib/libfalkolib.a to - ${CMAKE_INSTALL_PREFIX}/lib/ -- cmake script ${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake to - ${CMAKE_INSTALL_PREFIX}/share/falkolib/ - - -