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Installation Instructions

git clone https://github.com/HKUST-Aerial-Robotics/G3Reg
cd G3Reg

Docker

You can use Docker to simplify the installation process and avoid manual dependency management.

docker build -t g3reg .
xhost +local:root
docker run -it \
    -v "$(pwd)":/root/G3Reg \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -w /root/G3Reg \
    -e DISPLAY=$DISPLAY \
    g3reg bash

This will start a container with all dependencies pre-installed and mount your current project directory into the container.

Manual Installation (Without Docker)

a. Install packages from ubuntu source.

sudo apt install libboost-dev libyaml-cpp-dev libomp-dev libtbb-dev

b. Follow the official guidance to install GTSAM-4.1.1, PCL-1.10, GLOG.

Note:

  • GTSAM-4.2 is not compatible with Eigen-3.4.0. Use a version below 3.4.0, such as Eigen-3.3.7.
  • PCL-1.11 and later versions remove support for boost::make_shared in favor of std::make_shared, which is not compatible with this project. Use a version below 1.11, such as PCL-1.10.
  • To install the PCL visualization module, install VTK and Qt before installing PCL.

c. Install iGraph 0.9.9 (To support 3DMAC)

sudo apt-get install flex bison
git clone https://github.com/igraph/igraph.git
cd igraph
git checkout 0.9.9
mkdir build && cd build
cmake ..
make -j4
sudo make install

Build and Compile

mkdir build && cd build
cmake ..
make -j4