Getting started


  • Eigen (version 3.3 or newer) [required]
  • Pangolin (built with Eigen enabled) [optional; needed for visualization modules and most examples]

How to build

cilantro is developed and tested on Ubuntu variants (16.04 and newer) using CMake. To clone and build the library (with bundled examples), execute the following in a terminal:

git clone
cd cilantro
mkdir build
cd build
cmake ..
make -j