For more information about the C(anonical) Scan Matcher, see the webpage: http://purl.org/censi/2007/csm .
This is the "master" branch of CSM, which uses GSL.
There is also another branch, called [``csm_eigen``][branch], which uses the ``eigen`` library.
This branch is the work of people working at U. Freiburg and Kuka, including
Christoph Sprunk and Rainer Kuemmerle.
[branch]: https://github.com/AndreaCensi/csm/tree/csm_eigen
Binary install (via ROS)
------------------------------
(November 2015) Now you can install binary on Ubuntu (via ROS). As of today limited to Ubuntu Saucy and Trusty. To do so:
1. Add ROS repository to your Ubuntu's download site (For detail, see [ROS wiki](http://wiki.ros.org/indigo/Installation/Ubuntu)):
```
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 0xB01FA116
sudo apt-get update
```
2. Install CSM.
```
sudo apt-get install ros-indigo-csm
```
The package name contains "ROS" specific info, but you can use this as a standalone CSM library. It goes into these directory:
```
/opt/ros/indigo/include/csm
/opt/ros/indigo/lib/libcsm-static.a
/opt/ros/indigo/lib/libcsm.so
```
The C(canonical) Scan Matcher.zip
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The C(canonical) Scan Matcher.zip （430个子文件） 
AUTHORS 455B MbICP.c 19KB hsm.c 16KB json_object.c 13KB json_tokener.c 13KB laser_data_cairo.c 11KB JSON_checker.c 11KB options.c 10KB gpc.c 10KB icp.c 10KB carmen2pdf.c 10KB icp_loop.c 10KB gpm.c 8KB json_more_utils.c 7KB egsl.c 7KB sp_matrix.c 7KB json2matlab.c 7KB math_utils.c 7KB laser_data_json.c 7KB gtk_viewer1.c 7KB icp_corr_tricks.c 7KB laser_data_bbox.c 7KB laser_data.c 7KB test1.c 7KB sm_animate.c 6KB icp_outliers.c 6KB sm1.c 6KB laser_data_carmen.c 5KB ld_cluster_curv.c 5KB log2pdf.c 5KB sm2.c 5KB hsm_test00.c 5KB linkhash.c 5KB sm_options.c 4KB orientation.c 4KB laser_data_load.c 4KB goo_laser_data.c 4KB calcul.c 4KB hsm_interface.c 4KB egsl_ops.c 4KB icp_covariance.c 4KB laser_data_drawing.c 4KB math_utils_test.c 4KB printbuf.c 3KB gpc_utils.c 3KB ld_exp_tro1.c 3KB ld_noise.c 3KB ld_correct.c 3KB icp_corr_dumb.c 3KB json_util.c 3KB sm0.c 3KB ld_stats.c 3KB ld_recover.c 3KB logging.c 3KB ld_slip.c 3KB math_utils_gsl.c 2KB json_extract_field.c 2KB json_journal.c 2KB sm3.c 2KB ld_smooth.c 2KB arraylist.c 2KB rb_sm.c 2KB ld_resample.c 2KB options_interface.c 2KB ld_linearize.c 2KB ld_purify.c 2KB ld_remove_doubles.c 2KB utils.c 2KB gpc_test.c 2KB debug.c 2KB json_decimate.c 1KB json_split.c 1KB egsl_conversions.c 1KB mbicp_interface.c 1KB json_extract.c 1KB egsl_misc.c 1KB icp_debug.c 1004B test_options.c 971B laser_data_fisher.c 914B ld_fisher.c 896B clustering.c 868B test2.c 786B egsl_test.c 754B json_pipe.c 722B percolate.c 637B ld_alternate.c 506B test_json_ld.c 457B test_math_utils_sanity.c 422B json2carmen.c 373B carmen2json.c 371B egsl_test_allocation.c 289B test_json.c 157B myprogram.c 42B myprogram.c 42B ld_select.c 18B hsm_test01.c 0B mbicp_driver.cc 20KB FindGSL.cmake 4KB config.h.cmake 3KB FindCairo.cmake 2KB共 430 条
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