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stargazer

A landmark-based visual indoor localization system for mobile robots

Installation

Dependencies

You need the following dependencies to build this project:

• yaml-cpp
• libceres-dev
• opencv

If you are using rosdep, which now is a stand-alone tool independent of ROS, you can simply run the following command to install these dependencies:

rosdep install stargazer

Build

catkin-tools are recommended as build tools, but a classical build is possible as well:

mkdir build
cd build
cmake ..
make

Install

Install via

make install

Example

A simple usage example is included and will be build with the library. It resides in devel/lib/stargazer/ run it by handing it the path to the example file and config:

./devel/lib/stargazer/stargazer_demo res/frame0135.jpg res/stargazer.yaml

If you do not use catkin, the command is sligtly different:

./build/devel/lib/stargazer/stargazer_demo res/frame0135.jpg res/stargazer.yaml

Documentation

The library is fully documented with Doxygen comments. Build the documentation by running

doxygen Doxyfile