Installation

GLIM is tested on Ubuntu 22.04 / 24.04 with CUDA 12.2 / 12.5, and NVIDIA Jetson Orin (JetPack 6.0). You can build and install GLIM from source code, or install pre-built binaries from PPA.

Install from source

Common dependencies

# Install dependencies
sudo apt install libomp-dev libboost-all-dev libmetis-dev \
                 libfmt-dev libspdlog-dev \
                 libglm-dev libglfw3-dev libpng-dev libjpeg-dev

# Install GTSAM
git clone https://github.com/borglab/gtsam
cd gtsam && git checkout 4.2a9
mkdir build && cd build
cmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
         -DGTSAM_BUILD_TESTS=OFF \
         -DGTSAM_WITH_TBB=OFF \
         -DGTSAM_USE_SYSTEM_EIGEN=ON \
         -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF
make -j$(nproc)
sudo make install

# Install Iridescence for visualization
# This is optional but highly recommended
git clone https://github.com/koide3/iridescence --recursive
mkdir iridescence/build && cd iridescence/build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install


# Install gtsam_points
git clone https://github.com/koide3/gtsam_points
mkdir gtsam_points/build && cd gtsam_points/build
cmake .. -DBUILD_WITH_CUDA=ON
make -j$(nproc)
sudo make install


# Make shared libraries visible to the system
sudo ldconfig

Install GLIM for ROS1

cd ~/catkin_ws/src
git clone https://github.com/koide3/glim
git clone https://github.com/koide3/glim_ros1

cd ~/catkin_ws
catkin_make

# cmake options
# catkin_make \
#   -DBUILD_WITH_CUDA=ON \
#   -DBUILD_WITH_VIEWER=ON \
#   -DBUILD_WITH_MARCH_NATIVE=OFF

Install GLIM for ROS2

cd ~/ros2_ws/src
git clone https://github.com/koide3/glim
git clone https://github.com/koide3/glim_ros2

cd ~/ros2_ws
colcon build

# cmake options
# colcon build --cmake-args \
#   -DBUILD_WITH_CUDA=ON \
#   -DBUILD_WITH_VIEWER=ON \
#   -DBUILD_WITH_MARCH_NATIVE=OFF

Note

While AVX intrinsics can be enabled to speed up the mapping process by setting BUILD_WITH_MARCH_NATIVE=ON, it sometimes causes segfaults unless march=native is properly set for every involved library. We recommend keeping it disabled if you are not sure.

Install from PPA [Ubuntu 24.04 , 22.04, 20.04 / AMD64, ARM64]

Prerequisite

sudo apt install curl gpg

Setup PPA

# Choose one of the follows

# Automatically setup PPA via online script
curl -s https://koide3.github.io/ppa/setup_ppa.sh | sudo bash

# Manually setup PPA for Ubuntu 24.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2404/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2404 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

# Manually setup PPA for Ubuntu 22.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2204/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

# Manually setup PPA for Ubuntu 20.04
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2004/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2004 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list

Install dependencies

sudo apt update
sudo apt install -y libiridescence-dev libboost-all-dev libglfw3-dev libmetis-dev

# Choose one of the follows
sudo apt install -y libgtsam-points-dev           # without CUDA
sudo apt install -y libgtsam-points-cuda12.2-dev  # with CUDA 12.2
sudo apt install -y libgtsam-points-cuda12.5-dev  # with CUDA 12.5

Install GLIM for ROS

# Choose one of the follows

# ROS2 jazzy (Ubuntu 24.04)
sudo apt install -y ros-jazzy-glim-ros             # Without CUDA
sudo apt install -y ros-jazzy-glim-ros-cuda12.5    # With CUDA 12.5

# ROS2 humble (Ubuntu 22.04)
sudo apt install -y ros-humble-glim-ros            # Without CUDA
sudo apt install -y ros-humble-glim-ros-cuda12.2   # With CUDA 12.2
sudo apt install -y ros-humble-glim-ros-cuda12.5   # With CUDA 12.5

# ROS1 noetic (Ubuntu 20.04)
sudo apt install -y ros-noetic-glim-ros            # Without CUDA
sudo apt install -y ros-noetic-glim-ros-cuda12.2   # With CUDA 12.2
sudo apt install -y ros-noetic-glim-ros-cuda12.5   # With CUDA 12.5