A Modular Optimization framework for Localization and mApping (MOLA)
This repository holds the MOLA git superproject.
Refer to the official documentation for instructions, demos, API reference, etc.
git clone --recurse-submodules https://github.com/MOLAorg/mola.git
- CMake >=3.4
- A C++17 compiler. Either gcc-7, clang-4 or MSVC 2017 are good.
- Library dependencies: For Ubuntu, install them all with:
# MRPT >1.9.9, for now from this PPA (or build from sources if preferred):
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt update
sudo apt install libmrpt-dev mrpt-apps
# Boost, yaml-cpp, etc:
sudo apt install libboost-serialization-dev libboost-system-dev \
libboost-filesystem-dev libboost-thread-dev libboost-program-options-dev \
libboost-date-time-dev libboost-timer-dev libboost-chrono-dev \
libboost-regex-dev
sudo apt install libyaml-cpp-dev
Classic cmake stuff:
cmake -H. -Bbuild
cmake --build .
Read the documentation.
Directories layout is as follows:
cmake-modules: Extra CMake scriptsdemos: Example YAML files formola-launcherdoc: Documentation and placeholder for Doxygen docs.externals: All external depedencies
sudo apt install python3-pip
sudo -H pip3 install sphinx_rtd_theme
cd mola/..
mkdir mola-www
sphinx-build -b html mola/docs/source/ mola-www/
MOLA is released under the GNU GPL v3 license, except noted otherwise in each individual module. Other options available upon request.