seanzhang777 / libwave

Wavelab SLAM Library

libwave

This library contains reusable code for:

• Estimation
• Kinematics
• Optimization
• Vision
• and more ..

Requirements

libwave is divided into modules which can be built separately. Each has its own dependecies.

Module	Dependencies
wave_benchmark	wave_containers, wave_geometry, wave_utils
wave_containers	Eigen, Boost
wave_controls	Eigen
wave_geography	Eigen, GeographicLib
wave_geometry	Eigen, Boost
wave_gtsam	wave_utils, gtsam
wave_kinematics	wave_utils, wave_controls
wave_matching	wave_utils, Boost, PCL
wave_optimization	wave_utils, wave_kinematics, wave_vision, Ceres
wave_utils	Eigen, yaml-cpp
wave_vision	wave_utils, wave_kinematics, wave_containers, Boost Filesystem, OpenCV (calib3d, features2d, highgui, imgproc, videoio)

The following versions are the minimum we test against. Some earlier versions may work, but are not tested.

• Boost 1.54
• Ceres 1.13
• Eigen 3.3.2
• OpenCV 3.2.0
• PCL 1.8
• yaml-cpp 0.5.1
• gtsam
• GeographicLib 1.49

Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4).

Installing dependencies

The basic set of dependencies can be installed with the Ubuntu package manager using the command

sudo apt-get install libboost-dev libyaml-cpp-dev libeigen3-dev \
build-essential cmake

For convenience, scripts to install other dependencies on Ubuntu 16.04 are provided in scripts/install. Note: the scripts are not tested on a wide variety of systems. They may be incompatible with other packages installed on your system.

Install from source

Clone the repo with submodules:

git clone --recursive https://github.com/wavelab/libwave.git

Install the dependencies required for the modules you want to build, as described above. Then build using CMake:

cd libwave
mkdir -p build
cd build
cmake ..
make -j8

By default, all libraries whose dependencies are found will be built. Individual libraries can be disabled using CMake options. For example,

cmake .. -DBUILD_wave_vision=OFF

will disable building wave_vision.

Install libwave by running make install. Alternatively, you can enable the EXPORT_BUILD option in CMake, which will make the libwave build directory searchable by CMake without installation.

Known issue with OpenCV: wave_vision may fail to build if OpenCV 2 is installed in the default system directory on Ubuntu 16.04 (and OpenCV 3 is installed elsewhere). A workaround is to remove OpenCV 2 via sudo apt remove libopencv-dev.

Use with CMake

One libwave has been either installed or exported by CMake, it can be used in your project's CMakeLists.txt file as follows:

cmake_minimum_required(VERSION 3.0)
project(example)

find_package(wave REQUIRED geometry matching)

add_executable(example example.cpp)
target_link_libraries(example wave::geometry wave::matching)

Documentation

The documentation consists of an API reference as well as pages on Fundamentals, describing concepts and theory behind the library.

It is generated using Doxygen, using the build target make doc.

Notes for Developers

To expedite our development process we use a set of git hooks to run:

• Clang format (pre-commit)

these can be activated by running the githook_init.bash from the root of the repo

bash scripts/githooks/githooks_init.bash

LICENSE

Copyright (c) 2017 Waterloo Autonomous Vehicles Laboratory (WAVELab)

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.