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Outdoor CVO

Dockerfile to help resolve dependencies

Docker file for building CVO

Follow it to first get a cuda10 environment. Then manually install the following dependencies from source inside your docker container.

Dependencies

  • cuda10.2 (already in docker)
  • gcc7 (already in docker)
  • SuiteParse (already in docker)
  • Sophus 1.0.0 release (built from source)
  • Eigen 3.3.7 (built from source)
  • TBB (already in docker)
  • Boost 1.65 (already in docker)
  • pcl 1.9.1 (built from source)
  • OpenCV3 or OpenCV4 (already in docker)
  • GTSAM (default branch, built from source)

Note: 'pcl-1.9.1' need to be changed and compiled to get it working with cuda.

  • pcl/io/boost.h: add #include <boost/numeric/conversion/cast.hpp> at the end of the file before #endif
  • pcl/point_cloud.h: Some meet the error
pcl/point_cloud.h:586100 error: template-id ‘getMapping’ used as a declarator
friend boost::shared_ptr& detail::getMapping(pcl::PointCloud &p);

Please see this dock for reference

Compile

mkdir build
cd build
cmake ..
make -j