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Sergi Pujol authored
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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 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:

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:

cd <your/path>
git submodule init
git submodule update

In order to compile and install the repository:

cd <your/path>
cd deps/openslam_falkolib/
mkdir build
cd build
cmake ..
make

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 .."). 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} 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/