A library for working with LIDAR data.

lsl (LIDAR System Library) contains some basic functionality for working with LIDAR data. It is divided into several sub-libraries, currently

• core - Core classes for geometry, I/O, etc,
• imaging - Classes for working with images (requires opencv),
• registration - Registration algorithms.

In the supported operating systems (currently Arch Linux, Debian, Ubuntu, and Fedora), you can install the appropriate package. Otherwise, you can download the source code, build lsl according to the build instructions below, and install it.

Every lsl sub-library has its own dependencies and all non-core sub-libraries depends on core.

core

• Eigen library (version 3.0 or newer)

imaging

• OpenCV library (version 2.4 or newer)

registration

• yaml-cpp library (version 0.5 or newer)
• Boost library (needed only for building - it is a yaml-cpp dependency)

Make sure you have installed all necessary dependencies before building.

$ mkdir build && cd build
$ cmake ..
$ make

Use the following option if you want to build only one sub-library

$ cmake -Dlibrary:string=registration ..

For a faster build on a multicore processor, you can use:

$ make -j$(nproc)

To install the lsl library (or any sub-library), simply run as root:

# make install

To uninstall:

# make uninstall

There are several packages you can install. The package names adhere to the conventions of the operating systems.

You can install the lsl packages in Arch Linux from the AUR.

Do not forget to add my PGP key (fingerprint D258 09BF 3563 AA56 A12B 0F4D 545E DD46 FBAC 61E6).

$ gpg --recv-key D25809BF3563AA56A12B0F4D545EDD46FBAC61E6

In Ubuntu, you can use my ppa:branoholy/lsl and install the lsl packages.

$ sudo add-apt-repository ppa:branoholy/lsl
$ sudo apt-get update
$ sudo apt-get install liblsl-core-dev

openSUSE Build Service can be used in Debian 8. You need to add my key and repository, and then you can install the lsl packages.

$ sudo sh -c "wget http://download.opensuse.org/repositories/home:/branoholy:/lsl/Debian_8.0/Release.key -O - | apt-key add -"
$ sudo sh -c "echo 'deb http://download.opensuse.org/repositories/home:/branoholy:/lsl/Debian_8.0/ ./' >> /etc/apt/sources.list"
$ sudo apt-get update
$ sudo apt-get install liblsl-core-dev

openSUSE Build Service can be used in Fedora 23 as well. You need to add my repository and then you can install the lsl packages.

$ sudo dnf config-manager --add-repo http://download.opensuse.org/repositories/home:/branoholy:/lsl/Fedora_23/home:branoholy:lsl.repo
$ sudo dnf install lsl-core-devel

LSL is licensed under GNU GPL v3 (see the LICENSE file).