MoonSlam

2011-03-24T13:05:40Z

AngeloZuffiano: /* Some thesis (Bachelor, MS or PhD) */

{{Project
|title=moonSlam
|coordinator=MatteoMatteucci
|tutor=SimoneCeriani;
|students=VincenzoRizzo;RobertoBacciocchi; AntonioBianchi; MladenMazuran; MatteoLuperto; AngeloZuffiano;
|resarea=Computer Vision and Image Analysis
|start=2010/06/30
|status=Active
}}
== Goal ==
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).

== Motivation ==

== Download ==

Use the DEI svn system (you need a valid account):

* cd in your workspace directory
* to download all the project: <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/</code>
* to download only the "trunk": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/</code>
* to download only a "tag": <code>svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/</code>
** (you can know all the tags by <code>svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/</code>)

Use --username <username> after the svn command if you neeed to specify your username and password

== SVN principal commands ==
Check this, seems to be a good tutorial: [[http://svnbook.red-bean.com/en/1.4/svn.tour.cycle.html]]
* do <code>svn up</code> or <code>svn update</code> to check the status of repository
* with <code>svn add</code> you can add the unversioned elements (it is recursive)
* with <code>svn stat</code> you can check your svn status
* with <code>svn ci -m"comments"</code> you can checkin your files

===How to says to svn that some folders or files has to be ignored===
This is the common situtation
* you want to avoid the versioning of .settings, build and doc folder (that are shown with a '?' in the svn stat result)
* do <code>svn propedit .</code>
* add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
* run <code>svn stat</code>, the '?' should disappear, because the elements are ignored.

== Useful readings ==

=== Introduction to SLAM ===
* Wikipedia [http://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping]
* IEEE Slam tutorials
** Simultaneous Localization and Mapping: Part I [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1638022&userType=inst]
** Simultaneous Localization and Mapping: Part II [http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1678144]

* The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" [http://www.robots.ox.ac.uk/~SSS06/Website/index.html]
* The BMVC 2007 tutorials [http://www.cs.bris.ac.uk/Research/Vision/Realtime/bmvctutorial/]
* Joan Solà have an on line course on SLAM [http://homepages.laas.fr/jsola/JoanSola/eng/course.html here]. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)

==== EKF ====
* Probabilistic Robotics [http://robots.stanford.edu/probabilistic-robotics/]

==== Computer Vision ====
* Computer Vision: Algorithms and Applications [http://szeliski.org/Book/]
A freely available book about Computer Vision. Some chapters are dedicated to features recognition.

==== Useful Materials ====
* Joan Solà materials on quaternions [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/kinematics.pdf], EKF mathematics for SLAM [http://homepages.laas.fr/jsola/JoanSola/objectes/notes/FisslamNotes.pdf] and PhD Thesis [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

=== Some thesis (Bachelor, MS or PhD) ===
* Visual
** Migliore Davide (PhD) []
** MarzoratiDaniele (PhD) []
** RigamontiRoberto (MS) []
** Joan Solà (Phd) [http://homepages.laas.fr/jsola/JoanSola/objectes/PhD/Thesis.pdf]

* Laser
** [[User:MauroBrenna|Mauro Brenna]] []
** [[User:MladenMazuran|Mladen Mazuran]] & [[User:MatteoLuperto|Matteo Luperto]] (Bachelor) []

* Computer Vision
** MassimoQuadrana (Bachelor) []

* CI-Slam
** Pedro Piniés Rodriguez (Phd) [http://robots.unizar.es/data/documentos/PedroPiniesThesis.pdf]

== How to compile ==
On a "clean" Ubuntu 10.04.2 32bit installation, first of all, you need to install these packages:
* <code>subversion cmake g++ doxygen</code>
Then you have to install all the libraries required
by moonSlam:
* <code>liblog4cpp5-dev libxml++2.6-dev libpng3-dev libboost-all-dev</code>

moonSlam requires packages that are not available in Ubuntu standard repositories:
*libconfig++1.4.6
Download it from [http://www.hyperrealm.com/main.php?s=libconfig here]
and then install it, following the instructions written in INSTALL file.
* Eigen 3.0 library
Download it from [http://eigen.tuxfamily.org/index.php?title=3.0_beta here]
and then install it, following the instructions written in INSTALL file.
* Opencv 2.2
Download it from [http://opencv.willowgarage.com here]
and then install it, following the instruction written [http://opencv.willowgarage.com/wiki/InstallGuide here].

Opencv2.2 needs eigen2 library. Before compiling it, install eigen2 library (<code>apt-get install libeigen2-dev</code>).

Now you can compile moonSlam.
* open a shell inside trunk folder
* <code>mkdir build <br> cd build </code>
* now you can make one of these folder
** <code>Debug</code>
** <code>Release</code>
** <code>RelWithDebInfo</code>
** <code>MinSizeRel</code>
* cd in the created folder (e.g. <code>cd Debug</code>)
* <code>cmake ../..</code>
* <code>make</code>
If everything goes fine, compiled binaries and libraries will be
written inside trunk/build/<yourChoice> folder (keeping trunk folder "clean").

'''Note:''' performance, executable size and other aspects depends on the choosen build configuration. See the CMakeLists.txt file to know which compilations flags are used.

'''Note(2):''' MoonSlam compile with the libconfig++ proposed in Ubuntu repository, but some configuration files use the @include directive, that is supported by the libconfig++1.4.6.

== Create the documentation ==
go in the base folder (e.g. trunk) and type
<code>doxygen <LibraryName>.doxyfile</code>

you will find documentation in doc/<LibraryName>/html folder

for each library

== Links ==
[http://www.doc.ic.ac.uk/~ajd/ Andrew Davison home page]

[http://homepages.laas.fr/jsola/JoanSola/eng/JoanSola.html Joan Solà home page]

[http://robots.unizar.es/html/home.php Robotics, Perception and Real Time group, Zaragoza]

User:AngeloZuffiano

2010-05-23T09:54:59Z

AngeloZuffiano: New page: {{Student |category=Student |firstname=Angelo Antonio |lastname=Zuffianò |email=angelo.zuffiano@mail.polimi.it |advisor=MatteoMatteucci; |status=active }}

{{Student
|category=Student
|firstname=Angelo Antonio
|lastname=Zuffianò
|email=angelo.zuffiano@mail.polimi.it
|advisor=MatteoMatteucci;
|status=active
}}

AIRWiki - User contributions [en]

MoonSlam

User:AngeloZuffiano