Installation and Quick Start

Installation and Quick Start

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Dependencies

Tested on Ubuntu 20.04 with C++17.

Required:

• Eigen3
• PCL

Optional:

• TBB
• OpenMP

Not required by the C++ core:

• Ceres
• yaml-cpp
• Open3D

Build

From the repository root:

cmake -S DCReg -B DCReg/build
cmake --build DCReg/build -j8

Run

./DCReg/build/dcreg_minimal_example
./DCReg/build/dcreg_runner

Parking-Lot Real-Scene Demo

Build and run the real-scene single-frame-to-map example:

cmake --build DCReg/build -j8 --target dcreg_parking_lot_example
./DCReg/build/dcreg_parking_lot_example

The C++ runner keeps the algorithm dependency surface unchanged: Eigen + PCL, with optional TBB/OpenMP. The Open3D viewer is an optional Python-only visualization helper:

python3 -m pip install open3d numpy pillow
python3 scripts/visualize_parking_lot_example.py

Default Sample Data

Small demo inputs are bundled under DCReg/data/. The complete data package, including the large parking-lot prior map, is linked in the README. For the parking-lot demo, place the downloaded map here:

DCReg/data/Parking-Lot-example/prior_map.pcd

Executables

• dcreg_minimal_example: prints the three DCReg modules directly
• dcreg_runner: runs the verified simulation pipeline across parameterizations
• dcreg_parking_lot_example: runs the parking-lot real-scene matching case