1. Carnegie Robotics
  2. LibMultiSense

Overview

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LibMultiSense Copyright 2014 Carnegie Robotics, LLC 4501 Hatfield Street, Pittsburgh, PA 15201 http://www.carnegierobotics.com

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Carnegie Robotics, LLC nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

LibMultiSense

LibMultiSense is a C++ library used to interface with the MultiSense S family of sensors from Carnegie Robotics. For more information on the various MultiSense products please visit http://carnegierobotics.com/products/

Installation

Linux

LibMultiSense uses CMake for its build system.

To build the standalone LibMultiSense library and demonstration applications.

> hg clone http://bitbucket.org/crl/LibMultiSense
> cd LibMultiSense
> mkdir build
> cd build && cmake ..
> make

Integrating LibMultiSense into an existing CMake project is easy. Simply clone the LibMultiSense repository into the existing project's source tree. In the main CMakeLists.txt file of the project, add the following lines:

 include_directories(LibMultiSense/source/LibMultiSense)
 add_subdirectory(LibMultiSense/source/LibMultiSense)

Windows

LibMultiSense uses CMake to create a Microsoft Visual Studio project file used to build the LibMultiSense DLL.

Download and install CMake on Windows (http://www.cmake.org/download/), making sure CMake is included included in the system PATH.

Clone LibMultiSense to the Windows machine using a Windows Mercurial client. TortiseHg works well for this application http://tortoisehg.bitbucket.org/

Open a command prompt and execute the following commands:

> cd <LibMultiSense_checkout_directory>
> mkdir build
> cd build
> cmake ..

This will create a LibMultiSense.sln Visual Studio Solution file in the build directory. Open the solution file with Visual Studio (http://msdn.microsoft.com/en-us/vstudio/aa718325.aspx) and build the Solution.

Documentation and Examples

LibMultiSense builds as a single shared library which can be linked into any existing project.

The two header files MultiSenseChannel.hh and MultiSenseTypes.hh contain all the declarations necessary to interface with a MultiSense sensor.

Doxygen documentation can be built for LibMultisense by runnning the Doxygen configuration file located in the docs directory

> cd LibMultiSense/docs
> doxygen Doxyfile

Html and LaTex documentation will be generated in the docs directory.

Usage examples are included in the Doxygen documentation.

Support

Please direct all issues, questions, and feature requests to support@carnegierobotics.com