* FALKOLib - Fast Adaptive Laser Keypoint Orientation-invariant * Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini. OVERVIEW ------------------------------------------------- FALKOLib is a library that implements two keypoint detectors and two descriptors designed for 2D LIDARs. The two detectors are: - FALKO (Fast Adaptive Laser Keypoint Orientation-invariant), a general purpose keypoint detector which gives the name to the whole library; - OC (Orthogonal Corner), a keypoint specific for enviroments with straight linear walls and architectural elements arranged along orthogonal directions. The two descriptors are: - BSC (Binary Shape Context), a binary version of standard shape context descriptor; - CGH (Cumulative Gaussian Histogram), which represents the neighborhood of a point with an histogram. Moreover, the library provides the implementation of methods for keypoint/feature data association. In particular, the following methods have been implemented: - NN (Nearest Neighbor): each keypoint/feature of one set are associated to the nearest keypoint/features of another set; - CCDA (Combined Constraint Data Association): features are associated by finding the maximal sets of corresponding feature pairs, which are compatible with constraints to a set; - AHT (Affine Hough Transform): the corresponding features are found by voting the affine/rigid transformation that overlaps them according to Hough technique. If you use this library, please cite the following paper: F. Kallasi, D. Lodi Rizzini, and S. Caselli. Fast Keypoint Features from Laser Scanner for Robot Localization and Mapping. IEEE Robotics and Automation Letters (RA-L), 1(1):176-183, jan 2016. DOI 10.1109/LRA.2016.2517210 or the most relevant publication associated by visiting: http://rimlab.ce.unipr.it/ DEPENDENCIES ------------------------------------------------- The software depends on the following external libraries Boost >= 1.36 (submodule lexical_cast) Eigen 3.0 The library also requires the third party library mcqd developed by Janez Konc (see http://www.sicmm.org/konc/), which has been included in folder EXTERNAL. HOW TO COMPILE ------------------------------------------------- Let ${falkolib_ROOT} be the install directory of your local copy of library falkolib. The following standard commands are required to compile it: cd ${falkolib_ROOT} 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/ HOW TO USE LIBRARY falkolib IN YOUR PROJECT ------------------------------------------------- If library falkolib has been installed in system directory "/usr/local", then it is straighforward to use it in your projects. You needs to add the following lines to your project as in this example: CMAKE_MINIMUM_REQUIRED(VERSION 2.8) PROJECT(foobar) find_package(falkolib REQUIRED) message(STATUS "falkolib_FOUND ${falkolib_FOUND}") message(STATUS "falkolib_INCLUDE_DIRS ${falkolib_INCLUDE_DIRS}") message(STATUS "falkolib_LIBRARY_DIRS ${falkolib_LIBRARY_DIRS}") message(STATUS "falkolib_LIBRARIES ${falkolib_LIBRARIES}") if(${falkolib_FOUND}) include_directories(${falkolib_INCLUDE_DIRS}) link_directories(${falkolib_LIBRARY_DIRS}) endif() add_executable(foobar foobar.cpp) target_link_libraries(foobar ${falkolib_LIBRARIES}) The above example uses the variables defined in falkolibConfig.cmake: falkolib_FOUND - system has falkolib module falkolib_INCLUDE_DIRS - the falkolib include directories falkolib_LIBRARY_DIRS - the falkolib library directories falkolib_LIBRARIES - link these to use falkolib