dlr1516 / glarot3d

A geometric relations signature for landmark point sets to enable place recognition and map loop clousure.

GLAROT-3D - Geometric LAndmark relations ROTation-invariant 3D

Copyright (C) 2017 Dario Lodi Rizzini.

OVERVIEW

Library glarot3d implements a geometric signature to select loop closure candidates. It has been kept to a minimal design.

If you use this library, please cite the following paper:

D. Lodi Rizzini. Place Recognition of 3D Landmarks based on Geometric Relations. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), sept. 2017.

or the most relevant associated publications 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 3rdparty.

HOW TO COMPILE

Let ${glarot3d_ROOT} be the install directory of your local copy of library glarot3d. The following standard commands are required to compile it:

• cd ${glarot3d_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 glarot3d, 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 ${glarot3d_ROOT}/include/glarot3d to ${CMAKE_INSTALL_PREFIX}/include/glarot3d/
• library files ${glarot3d_ROOT}/lib/libglarot3d.a to ${CMAKE_INSTALL_PREFIX}/lib/
• cmake script ${glarot3d_ROOT}/cmake_modules/glarot3dConfig.cmake to ${CMAKE_INSTALL_PREFIX}/share/glarot3d/

HOW TO USE LIBRARY glarot3d IN YOUR PROJECT

If library glarot3d 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(glarot3d REQUIRED)
message(STATUS "glarot3d_FOUND ${glarot3d_FOUND}")
message(STATUS "glarot3d_INCLUDE_DIRS ${glarot3d_INCLUDE_DIRS}")
message(STATUS "glarot3d_LIBRARY_DIRS ${glarot3d_LIBRARY_DIRS}")
message(STATUS "glarot3d_LIBRARIES ${glarot3d_LIBRARIES}")

if(${glarot3d_FOUND})
include_directories(${glarot3d_INCLUDE_DIRS})
link_directories(${glarot3d_LIBRARY_DIRS})
endif()

add_executable(foobar foobar.cpp)
target_link_libraries(foobar ${glarot3d_LIBRARIES})

The above example uses the variables defined in glarot3dConfig.cmake:

• glarot3d_FOUND - system has glarot3d module
• glarot3d_INCLUDE_DIRS - the glarot3d include directories
• glarot3d_LIBRARY_DIRS - the glarot3d library directories
• glarot3d_LIBRARIES - link these to use glarot3d