【环境搭建】深度图融合点云fusibile环境配置

mkdir build && cd build
cmake ..
make

进行编译即可，会自动导出后续fusibile被调用时的路径

一些坑记录在下面：

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【运行转化点云时报错：Error: no kernel image is available for execution on the device】

• 原因：主要是不同显卡的CUDA架构问题，根据Matching CUDA arch and CUDA gencode for various NVIDIA architectures找到自己的GPU，再到fusibile的CMakeLists.txt中修改gencode arch=compute_70,code=sm_70为自己的型号即可

• 解决方案：在CMakeList中将第10行中的set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 --use_fast_math --ptxas-options=-v -std=c++11 --compiler-options -Wall -gencode arch=compute_75,code=sm_75)更改为正确的版本

  具体版本仍不太知道该如何查找

  参考：Error: no kernel image is available for execution on the device · Issue #9 · kysucix/fusibile · GitHub

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【OpenCV报错】

CMake Error at CMakeLists.txt:4 (find_package):
  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "OpenCV", but
  CMake did not find one.

  Could not find a package configuration file provided by "OpenCV" with any
  of the following names:

    OpenCVConfig.cmake
    opencv-config.cmake

  Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
  "OpenCV_DIR" to a directory containing one of the above files.  If "OpenCV"
  provides a separate development package or SDK, be sure it has been
  installed.

-- Configuring incomplete, errors occurred!

• 原因：OpenCV安装问题
• 解决办法：重新安装OpenCV，Ubuntu配置OpenCV终极解决方案，可以通过linux下查看opencv安装路径以及版本号查看是否安装成功

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【报错：fatal error: GL/gl.h: No such file or directory】

• 原因：系统中缺少OpenGl库
• 解决方案：

apt-get install mesa-common-dev
apt-get install libgl1-mesa-dev

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【报错：#error -- unsupported GNU version! gcc versions later than 6 are not supported】

sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-6 10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 10