cv_gordon

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背景

使用NDT建图,帧率比较慢,打算使用gpu加速计算。

ndt_gpu是一个使用gpu加速ndt计算的库,首先在工作空间编译这个包。

然后在ndtMap包中链接这个库,其CMakelists.txt添加如下内容,

SET(CUDA_INCLUDE_DIRS /usr/local/cuda-10.0/include)
find_package(CUDA)
if (CUDA_FOUND)
    add_definitions(-DCUDA_FOUND)
    list(APPEND PCL_OPENMP_PACKAGES ndt_gpu)
endif ()

find_package(catkin REQUIRED COMPONENTS
            ${PCL_OPENMP_PACKAGES}
            )

编译成功!

运行却报错如下:

ndtMap: /usr/local/gtsam/include/gtsam/3rdparty/Eigen/Eigen/src/Core/DenseStorage.h:109: 
Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: 
Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && 
"this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " 
**** READ THIS WEB PAGE !!! ****"' failed.
Aborted (core dumped)

 

问题解决思路

https://blog.csdn.net/wojiushixiangshi/article/details/78356271

http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html (更多详情需要参考这个网址)

 

解决方案:

在ndt_gpu库的CMakeLists.txt中添加下述指令,重新编译即可。

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -O3 -mtune=native ")

 

posted on 2019-05-28 22:14  cv_gordon  阅读(2560)  评论(0编辑  收藏  举报