A C++ Toolbox with utilities for 2D laser scan processing, made at IRI (www.iri.upc.edu).

Installation

Optional dependencies

Canonical Scan Matching - CSM

To enable the compilation of iterative closest point algorithms, CSM should be installed. We recommend to install it from our forked repository to avoid several error messages. Clone, compile and install:

cd <your/path>
git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/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

Loop closure search is implemented using FALKO Library. In order to download, compile and install it:

cd <your/path>
git clone https://gitlab.iri.upc.edu/mobile_robotics/falkolib.git
cd falkolib
mkdir build
cd build
cmake ..
make
sudo make install

Install via source

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". The sudo is required only if ${CMAKE_INSTALL_PREFIX} is a system diretory managed by administrator user root. 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

Finally, you can install the library:

make install