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, which uses the eigen library. This branch is the work of people working at U. Freiburg and Kuka, including Christoph Sprunk and Rainer Kuemmerle.

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):

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

1. 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