Copyright (C) 2016 Fabjan Kallasi and Dario Lodi Rizzini.
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/
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.
If you want to put falkolib in a catkin workspace, the package.xml to do so is provided. You can ignore these steps in thise case.
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/
If you want to put falkolib in a catkin workspace, then simply follow the tutorials to do that, and ignore these steps.
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
if(
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