This package contains various types / algorithms which are extensively used in the RTAC projects developments (namely the rtac_display, rtac_optix and rtac_acoustics repositories).
Disclaimer : this packages and the dependent ones have only been tested on Ubuntu. Don't expect to see it work right away with another system.
The two main dependencies are Eigen3 and CUDA (you can skip if these are already installed on your system). If you do not need CUDA, you may deactivate CUDA support in rtac_base (See in the Compiling and Installing section).
The Eigen version being provided in the Ubuntu package manager being rather old, this software uses more recent version of Eigen (we use Eigen 3.4) provided by Eigen official repository.
git clone https://gitlab.com/libeigen/eigen.git
cd eigen
git checkout 3.4
make build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<your install location> ..
make install
To our knowledge, when these line were written there are still no consensus on how to install CUDA on your machine while being sure not to break everything. We present here how we do it, which takes a little more efforts but has the benefit of not breaking you graphical session. The idea is to let Ubuntu manage the graphical driver, and install CUDA by manually selecting the CUDA version depending on which graphic driver was/is installed.
CAUTION Installing graphical drivers has the potential to break your graphical session. If this happens, you can save yourself by logging into a TTY (CTRL-ALT-F[1-2-3-4]), removing all that is nvidia related using apt, and deleting the /etc/X11/xorg.conf file. This will re-enable the use of the mesa driver and give you back a graphical session. (But use at your own risks...).
- Check your graphic card model using lshw and install a suitable driver.
lshw | grep display -A10 -B10
Find the model of your NVIDIA graphic card and search on the NVIDIA website the driver version suitable for your graphic card DO NOT DOWNLOAD THE DRIVER, JUST CHECK THE VERSION
Instead, install the most suitable version for your system from the ADDITIONAL DRIVER dialog in Ubuntu. Install it and reboot.
- Check the CUDA version and install the highest one compatible with your driver.
Check the CUDA version you can install using the Table II in CUDA release notes.
Download the CUDA installation file from here.
TAKE THE RUNFILE, NOT A .DEB. THE .DEB MIGHT INSTALL AN INCOMPATIBLE DRIVER
Run the runfile as sudo but DO NOT INSTALL THE DRIVER (You already did that).
Let the installer do his thing, and voilà ! CUDA should be installed under /usr/local
This is a standard CMake compilation/installation.
You may deactivate CUDA support with the option WITH_CUDA=OFF.
mkdir build && cd build
cmake -DWITH_CUDA=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=<an install location in $CMAKE_PREFIX_PATH, or on the system> ..
make -j4 install
Feel free to use this CMakeLists.txt and the associated cmake/*.cmake scripts as a CMake template for your own projects. They are not perfect but try to follow modern CMake conventions (Please use CMake targets !)