BRICS_3D is the BRICS library for 3D perception and modeling. It offers perception algorithms to create a processing chain for object recognition or environment reconstruction (e.g. triangle representation) via data from 3D sensors.
Beside the algorithms for perception the BRICS_3D library implements a novel scene graph based world modeling approach to maintain the processed 3D data over a longer period of time. This library is biased towards 3D perception and modeling for mobile manipulation applications.
For the latest documentation pages please go to:
http://www.best-of-robotics.org/brics_3d/
Please see the file called INSTALL.txt for detailed instructions. As an overview you will need to satisfy (at least) the required dependencies:
- Boost 1.37 (or higher)
- Eigen2 2.0.13 (or higher, Eigen3 is recommended)
Then compile with:
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
- "src" contains the main source code
- "examples" contains the test applications and serves as a development sand box
- "lib" contains the compiled libraries
- "bin" contains all compiled binaries (which are linked against the libraries)
- "doc" contains the html files generated by doxgen (just invoke doxygen BRICS_3D.doxyfile)
- "externals" contains the (modified) external libraries and some cmake scripts (to check prerequisites)
- "build" for out-of-source build with cmake
This software is documented with doxygen. To generate html files use:
$ doxygen BRICS_3D.doxyfile
The result can be found in the subfolder: doc/html
This software is published under a dual-license: GNU Lesser General Public License LGPL 2.1 and Modified BSD license. The dual-license implies that users of this code may choose which terms they prefer. Please see the files called LGPL-2.1 and BSDlicense.
This work was supported by the European FP7 projects BRICS (FP7- ICT-231940) and SHERPA (FP7-600958).
Written by Sebastian Blumenthal (blumenthal@locomotec.com) Last update: 14.02.2014