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tutorial of perception_cupoch

Tested platform

  • x86 PC
    • ubuntu-20.04
    • ROS Noetic with apt
    • GPU Driver-460.91.03
    • Cuda-11.0
    • cupoch-0.1.9.1
  • Jetson xavier
    • Jetpack-4.4.1(L4T 32.4.4)
    • Ubuntu-18.04
    • ROS-Melodic with apt
    • Cuda-10.2
  • Jetson container on x86 PC
    • Jetpack 4.4.1

install

install cupoch

install custom version of cupoch-fat, which is based on cupoch 0.1.9.1.

sudo apt install nasm
sudo apt-get --yes install xorg-dev libglu1-mesa-dev libgl1-mesa-glx libglew-dev libglfw3-dev libeigen3-dev libpng-dev libpng16-16  libsdl2-dev python-dev python-tk python3-dev python3-tk  libtbb-dev  libglu1-mesa-dev  libc++-7-dev  libc++abi-7-dev  ninja-build  libxi-dev
sudo apt install libfmt-dev pybind11-dev libqhull-dev libglfw3-dev liblapacke-dev
git clone https://github.com/ZhenshengLee/cupoch-fat.git
cd ./cupoch-fat
mkdir build
cd ./build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/cupoch/cupoch -DBUILD_UNIT_TESTS=OFF -DBUILD_PYBIND11=OFF -DBUILD_PYTHON_MODULE=OFF
make -j6
sudo make install

compile

following guide in README of cupoch_conversions

test

following guide in README of cupoch_conversions