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 (requiresopencv
),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.
Operating system | Package name | Package content |
---|---|---|
Arch Linux | lsl-core-lib |
only core runtime library |
lsl-core |
core library and headers |
|
lsl-imaging |
imaging and core libraries and headers |
|
lsl-registration-lib |
only registration and core runtime libraries |
|
lsl-registration |
registration and core libraries and headers |
|
Debian / Ubuntu | liblsl-core |
only core runtime library |
liblsl-core-dev |
core library and headers |
|
liblsl-imaging-dev |
imaging and core libraries and headers |
|
liblsl-registration |
only registration and core runtime libraries |
|
liblsl-registration-dev |
registration and core libraries and headers |
|
Fedora | lsl-core |
only core runtime library |
lsl-core-devel |
core library and headers |
|
lsl-imaging-devel |
imaging and core libraries and headers |
|
lsl-registration |
only registration and core runtime libraries |
|
lsl-registration-devel |
registration and core libraries and headers |
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).