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koide3 / gtsam_points

A collection of GTSAM factors and optimizers for point cloud SLAM
MIT License
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cmake error #27

Open darkdelting opened 1 day ago

darkdelting commented 1 day ago

gtsam_points/cuda/kernels/vgicp_derivatives.cuh(49): error: calling a host function("Eigen::MatrixBase< ::Eigen::CwiseBinaryOp< ::Eigen::internal::scalar_sum_op<float, float> , const ::Eigen::Matrix<float, (int)3, (int)3, (int)0, (int)3, (int)3> , const ::Eigen::Matrix<float, (int)3, (int)3, (int)0, (int)3, (int)3> > > ::inverse() const") from a device function("gtsam_points::vgicp_derivatives_kernel::operator () const") is not allowed

koide3 commented 1 day ago

What is the version of your ubuntu? The error should be related to the version of Eigen. See this thread: https://github.com/koide3/glim/issues/89#issuecomment-2396744818

darkdelting commented 1 day ago

ununtu20.04 eigen3.3.7 , Thank your anwser , My Eigen versin should >= 3.4.0

koide3 commented 1 day ago

For Ubuntu 20.04, you need to manually install Eigen and cmake because the system default ones are too old. Please take a look at https://github.com/koide3/gtsam_points/blob/13d3bb7b9943db86e1ee4f24b61722b9c10a4bc5/docker/ubuntu/Dockerfile.focal.cuda#L16.