This contains our implementation of a vocabulary tree (Nister & Stewenius) together with some modifications for our paper. It also includes some functions e.g. for extracting segments & features and querying on our data structure.
To use the system, follow the instructions in scripts/menu.py. There are submenus, for example for querying that can be run separately, i.e. scripts/training_menu.py and scripts/querying_menu.py.
Tested with Ubuntu 14.04 with ROS Indigo and corresponding OpenCV + PCL, QT4. The repos https://github.com/nilsbore/k_means_tree and https://github.com/USCiLab/cereal are included in the repo as subtrees.
You further need one package from the STRANDS project http://strands.acin.tuwien.ac.at/. Follow the instructions on https://github.com/strands-project-releases/strands-releases/wiki to add the debian package repository. Then install the metaroom_xml_parser by typing sudo apt-get install ros-indigo-metaroom-xml-parser.
If you do not want to add the debian repository, you can compile https://github.com/strands-project/strands_3d_mapping manually in a catkin workspace. There is a commented section in the cmake file where you can add the necessary include and linking information.