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