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                BRICS_3D - 3D Perception and Modeling Library
              

What is it?
-----------
 
BRICS_3D is the BRICS library for 3D perception and modeling. It offers perception
algorithms to create a processing chain for object recognition or environment reconstruction 
(e.g. triangle representation) via data from 3D sensors. 
	
Beside the algorithms for perception the BRICS_3D library implements a novel scene graph based
world modeling approach to maintain the processed 3D data over a longer period of time.	 
This library is biased towards 3D perception and modeling for mobile manipulation applications. 


Project website
---------------

For the latest documentation pages please go to:

http://www.best-of-robotics.org/brics_3d/


Installation
------------

Please see the file called INSTALL.txt for detailed instructions. As an 
overview you will need to satisfy (at least) the required dependencies: 

   1. Boost 1.37 (or higher)
   2. Eigen2 2.0.13 (or higher, Eigen3 is recommended)

Then compile with:

 $ mkdir build
 $ cd build 
 $ cmake ..
 $ make
 $ sudo make install


Folder structure
----------------

"src" contains the main source code
"examples" contains the test applications and serves as a development sand box
"lib" contains the compiled libraries
"bin" contains all compiled binaries (which are linked against the libraries)

"doc" contains the html files generated by doxgen (just invoke doxygen BRICS_3D.doxyfile)
"externals" contains the (modified) external libraries and some cmake scripts (to check prerequisites)
"build" for out-of-source build with cmake


Documentation
-------------

This software is documented with doxygen. To generate html files use:

 $ doxygen BRICS_3D.doxyfile

The result can be found in the subfolder: doc/html

Licensing
---------

This software is published under a dual-license: GNU Lesser General Public
License LGPL 2.1 and Modified BSD license. The dual-license implies that
users of this code may choose which terms they prefer. Please see the files
called LGPL-2.1 and BSDlicense.


Impressum
---------

Written by Sebastian Blumenthal ([email protected])
Last update: 17.01.2014