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Multi-Layered Feature Graph for Robot Navigation

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MFG
===
Visual SLAM using Multilayer Feature Graph (MFG)

This is the source code to go along with the IEEE Transactions on Robotics (T-RO) paper by Yan Lu and Dezhen Song, titled 
"Visual Navigation Using Heterogeneous Landmarks and Unsupervised Geometric Constraints" and published at http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7103351.

Full citation:

Yan Lu and Dezhen Song, "Visual Navigation Using Heterogeneous Landmarks and Unsupervised Geometric Constraints", IEEE Transactions on Robotics (T-RO), vol. 31, no. 3, June 2015, pp. 736 – 749

This code has been tested on Ubuntu 12.04 and should work on 12.04 or newer versions.

Dependencies
------------
Below is a list of all dependencies required, and links to relevant information such as downloads.  There are also instructions for installing the required packages on a Ubuntu system, specifically, but which should also work on most Debian-based systems.
* Qt5: see https://wiki.qt.io/Install_Qt_5_on_Ubuntu 
* OpenGL: freeglut (http://freeglut.sourceforge.net/)
   ```
   sudo apt-get install freeglut3-dev
   ```
* OpenCV 2.4.x: http://opencv.org
   * On Ubuntu-based systems, OpenCV should be installed manually from source.
* Line Segment Detector
   * Website link: http://www.ipol.im/pub/art/2012/gjmr-lsd/
   * A copy of the LSD project (version 1.5) resides in this repository and will build with MFG, and includes a custom CMakeLists.txt in order to compile with our code and link correctly
   * Version 1.5 is used for the current state of this project      
* LevMar, an implementation of Levenberg-Marquardt Nonlinear Least Squares Algorithms
   * Website link: http://users.ics.forth.gr/~lourakis/levmar/
   * Requires lapack, f2c and OpenBlas
   ```
   sudo apt-get install liblapack-dev f2c libopenblas-base libopenblas-dev
   ```
   * Note that some issues have arisen during the LevMar compilation regarding an `undefined reference to symbol 'exp@@GLIBC...'`, which can be fixed by adding ` -lm` to the `TARGET_LINK_LIBRARIES` line in the levmar CMakeLists.txt file, making it look like:
   ```
   TARGET_LINK_LIBRARIES(lmdemo ${LIBS} -lm)
   ```
   * Also note that levmar-2.6 has been included and will build with MFG, and contains a slightly modified CMakeLists.txt from the original in order to compile with our code and link correctly
* Eigen3: http://eigen.tuxfamily.org/
   ```
   sudo apt-get install libeigen3-dev
   ```
* g2o: A General Framework for Graph Optimization
   * GitHub download link: https://github.com/RainerKuemmerle/g2o
   * Note that the github code includes CSparse (http://people.sc.fsu.edu/~jburkardt/c_src/csparse/csparse.html)
   * On a UNIX/Linux system:
   ```
   git clone https://github.com/RainerKuemmerle/g2o
   cd g2o
   mkdir build
   cd build
   cmake ..
   make
   make install
   ```

Ensure all installation paths are defined appropriately in the cmake_modules directory's Find[Library].cmake files, if they were installed manually.  If the library's path cannot be found, add a line to that library's Find[Library].cmake file for your specific installation path, but please do not commit it to the repository unless it is a generic path (is not under your home directory or in an obscure location).

Build Instructions
------------------
This project uses CMake (http://www.cmake.org), a cross-platform build system.
* mkdir build
* cd build
* cmake ..
* make

To run it
---------
1. Under the 'bin' directory, run command: ``` mfg-nogui xxxx ```
   where xxxx is a configuration file under 'config'. The default for xxxx is "mfgSettings.ini".
2. To visualize the result, use "src/matlab/plot_mfg_traj.m".

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