@@ -43,50 +43,30 @@ The default steps perform frame-to-reference localization and mapping, and inclu
#### Additional Functionalities
-**AICP localization only** -- frame-to-map localization. This localizes against a fixed input map
-**Localization only mode** -- This localizes against a fixed input map
***
### Quick Start
#### Main dependencies
*[libpointmatcher](https://github.com/ethz-asl/libpointmatcher.git), a modular library implementing the Iterative Closest Point \(ICP\) algorithm for aligning point clouds.
*[Point Cloud Library \(PCL\)](https://github.com/pointcloudlibrary/pcl) revision pcl-1.7.0, a standalone, large scale, open project for 2D/3D image and point cloud processing.
*[Octomap](https://github.com/OctoMap/octomap.git), a probabilistic 3D mapping framework based on octrees.
*[OpenCV](https://opencv.org/) -- Open Source Computer Vision Library.
*[Eigen](https://eigen.tuxfamily.org/dox-devel/index.html), a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
@@ -129,8 +109,18 @@ To filter an ANYmal rosbag to contain only the required topics
* rosbag filter in.bag out.bag "topic=='/tf' or topic=='/state_estimator/pose_in_odom' or topic=='/point_cloud_filter/velodyne/point_cloud_filtered' or topic=='/tf_static'"
#### Main dependencies
*[libpointmatcher](https://github.com/ethz-asl/libpointmatcher.git), a modular library implementing the Iterative Closest Point \(ICP\) algorithm for aligning point clouds.
*[Point Cloud Library \(PCL\)](https://github.com/pointcloudlibrary/pcl) revision pcl-1.7.0, a standalone, large scale, open project for 2D/3D image and point cloud processing.
*[Octomap](https://github.com/OctoMap/octomap.git), a probabilistic 3D mapping framework based on octrees.
*[OpenCV](https://opencv.org/) -- Open Source Computer Vision Library.
*[Eigen](https://eigen.tuxfamily.org/dox-devel/index.html), a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.