NVIDIA Jetson Xavier NX部署VINS-fusion-GPU
一、环境配置(Ubuntu 18.04)
1、Cuda 10.2的安装
sudo apt-get update
sudo apt-get install cuda-toolkit-10-2
安装好之后,在 .bashrc中配置环境变量。source之后,nvcc – version 即可查看cuda版本。
export PATH=/usr/local/cuda-10.2/bin${
PATH:+:${
PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda-10.2/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
export CUDA_ROOT=/usr/local/cuda
2、Eigen(用ROS自带的也可以)
# Remove pre-built Eigen
sudo apt-get remove libeigen3-dev
cd ~/Downloads/
wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip #check version
unzip eigen.zip
mkdir eigen-build && cd eigen-build
cmake ../eigen-3.3.7/ && sudo make install
pkg-config --modversion eigen3 # Check Eigen Version
3、Ceres solver
cd ~/Downloads/
sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
mkdir ceres-bin
mkdir solver && cd ceres-bin
cmake ../ceres-solver-1.14.0 -DEXPORT_BUILD_DIR=ON -DCMAKE_INSTALL_PREFIX="../solver"
#good for build without being root privileged and at wanted directory