CMake bugs and CUDA issues in Ubuntu 12.04 #37
Description
I ran into a couple of issues when building under Ubuntu 12.04 LTS. I'm running an essentially stock setup. I'm using CUDA 5.0. I followed the install directions exactly (copy-paste into terminal).
Two problems:
- Build failed with complaints about errors finding cu_di_* (e.g., cu_di_sfree, cu_di_add, etc). Also complained about inability to link gluSphere and gluDisk.
Resolution:
I added GLU and cxsparse to line 67 in ScaViSLAM/CMakeLists.txt. The line now reads:
SET (LIB_NAMES GL GLU pangolin glut g2o_stuff g2o_core g2o_solver_csparse csparse cxsparse- CUDA 5 does not include cutil_inline.h. Since this is missing, stereo_slam.cpp is broken.
I commented out the include for cutil_inline.h in stereo_slam.cpp and added an include for cuda_runtime_api.h for cudaGetDeviceProperties.
CUDA_SAFE_CALL is a macro and needs to be replaced. If I had lots of time, I would fix this a nice way (e.g., write a nice macro and put it in a .h), but instead I just replaced the call to around CUDA_SAFE_CALL (line 664ish in stereo_slam.cpp) with the following code:
#ifdef SCAVISLAM_CUDA_SUPPORT
cudaDeviceProp prop;
{
cudaError err = cudaGetDeviceProperties(&prop, 0);
if(err != cudaSuccess) {
std::cerr << "Cuda error in file '" << __FILE__
<< "' in line " << __LINE__
<< " : " << cudaGetErrorString( err )
<< "." << std::endl;
exit(EXIT_FAILURE);
}
}
{
cudaError err = cudaThreadSynchronize();
if(err != cudaSuccess) {
std::cerr << "Cuda error in file '" << __FILE__
<< "' in line " << __LINE__
<< " : " << cudaGetErrorString( err )
<< "." << std::endl;
exit(EXIT_FAILURE);
}
}
std::cout << "Multiprocessors: " << prop.multiProcessorCount << std::endl;
#endifGoogle tells me that this macro has been moved into some other file (helper_cuda.h), but for whatever reason my install of CUDA doesn't seem to have that file.
Now everything builds. Hope this helps someone else.