This a 2d laser feature detector which is more robust than falko algorithm. It detects the corner in laserscan. Compared to Flirt algorthm, it is more suitable to our expection.
Build Instructions
git clone https://github.com/zoumaguanxin/Geomeasurer.git
cd Geomeasurer
mkdir build
cd build
cmake ..
make
Refer to https://github.com/tipaldi/flirtlib
Note: for the reason that the "gui" lib of flirtlib might difficultly be installed, so you can edit its CMakeLists.txt to disable it.
After finishing its installation, use the following command line to find FLIRTConfig.cmake
sudo updatedb
locate FLIRTConfig.cmake
sudo vim /usr/local/share/flirtlib/cmake/FLIRTConfig.cmake
delete "gui" because it has not been built