Compiling and installing norlab_icp_mapper

This tutorial will guide you through the different steps to install norlab_icp_mapper. The mapper relies on libpointmatcher for point cloud registration. Check its installation guide before continuing with this tutorial. The mapper can possibly be deployed on other platforms, but the primary target is Ubuntu.

Name	Version (Tested on our CI/CD server)	Version (Tested on our CI/CD server)	Version (Tested on our CI/CD server)
Ubuntu	bionic 18.04.1 LTS (64 bit)	focal 20.04 LTS (64 bit)	jammy 22.04 LTS (64 bit)
Architecture	x86 and arm64/v8	x86 and arm64/v8	x86 and arm64/v8

Note

We only support 64-bit systems because of some issues with Eigen. Other versions will most probably work but you'll have to try yourself to know for sure.

Dependencies

norlab_icp_mapper relies principally on libpointmatcher and its dependencies.

Library name	cmake	yaml-cpp	libpointmatcher
Version	>=3.10.2	>=0.5	>=1.4.2

Installing norlab_icp_mapper

First, you need to clone the source repository into a local directory. As an example, we reuse the Libraries directory that was created to contain the libnabo sources.

cd ~/Libraries/
git clone git://github.com/norlab-ulaval/norlab_icp_mapper.git
cd norlab_icp_mapper

Create a build directory, set the build flag to release and set a flag to build examples

SRC_DIR=${PWD}
BUILD_DIR=${SRC_DIR}/build
mkdir -p ${BUILD_DIR} && cd ${BUILD_DIR}
cmake -D CMAKE_BUILD_TYPE=RelWithDebInfo -D BUILD_EXAMPLE=TRUE ${SRC_DIR}

Now, to compile /norlab_icp_mapper into the /build directory, run the following command:

make

Installation

Finally, to install norlab_icp_mapper on your system, run the following command:

sudo make install