|Students:||VincenzoRizzo (email@example.com), RobertoBacciocchi (firstname.lastname@example.org), AntonioBianchi (email@example.com), MladenMazuran (firstname.lastname@example.org), MatteoLuperto (email@example.com), AngeloZuffiano (firstname.lastname@example.org)|
|Research Area:||Computer Vision and Image Analysis|
The aim of the moonSlam project is to create a generic software framework for SLAM (Simultaneous Localization And Mapping).
Use the DEI svn system (you need a valid account):
- cd in your workspace directory
- to download all the project:
svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/
- to download only the "trunk":
svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/trunk/
- to download only a "tag":
svn co https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/<tagname>/
- (you can know all the tags by
svn ls https://svn.ws.dei.polimi.it/airlab/Projects/MoonSlamProject/tags/)
- (you can know all the tags by
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: []
svn updateto check the status of repository
svn addyou can add the unversioned elements (it is recursive)
svn statyou can check your svn status
svn ci -m"comments"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)
svn propedit .
- add in the editor (nano, vim or something similar) the folders or files that you want to ignore (one per line).
svn stat, the '?' should disappear, because the elements are ignored.
Introduction to SLAM
- Wikipedia 
- IEEE Slam tutorials
- The SSS06 (SLAM Summer School) pages, refer to "lectures" and "Practicals" 
- The BMVC 2007 tutorials 
- Joan Solà have an on line course on SLAM here. It's based on a Matlab toolbox developed by Solà (http://homepages.laas.fr/jsola/JoanSola/eng/toolbox.html)
- Probabilistic Robotics 
Some thesis (Bachelor, MS or PhD)
- Migliore Davide (PhD) 
- MarzoratiDaniele (PhD) 
- RigamontiRoberto (MS) 
- Joan Solà (Phd) 
- Computer Vision
- MassimoQuadrana (Bachelor) 
How to compile
On a "clean" Ubuntu 10.4 32bit installation, first of all you need to install these packages:
svn cmake g++
Then you have to install all the libraries required by moonSlam:
liblog4cpp5 liblog4cpp5-dev libcv-dev libhighgui-dev libconfig++8-dev libxml++2.6-dev libboost-all-dev libcvaux-dev opencv libopencv-dev
moonSlam requires also Eigen 3.0 library. It is not present on official Ubuntu 10.4 repository, download it from here and then install it, following the instructions written in INSTALL file.
Now you can compile moonSlam.
- open a shell inside trunk folder
- now you can make one of these folder
- cd in the created folder (e.g.
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 now need OpenCV2.2, probably you have to compile it by hands (they are not available in Ubuntu standard repositories)
Note(3): 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. Get it from here.
Create the documentation
go in the base folder (e.g. trunk) and type
you will find documentation in doc/<LibraryName>/html folder
for each library