ubuntu_cliantro_build.md

Building SurfelWarp on Ubuntu 16.04/18.04 with cliantro

You need a nvidia GPU with CUDA >= 9 installed (CUDA 10 is OK). To choose the CUDA architecture compatible with your CUDA version and graphics card, thereby also reducing compile time, pass -DCUDA_ARCH=<arg> to CMake, where <arg> is a two-digit compile compatibility version, e.g. "61", or choose this number from the corresponding drop-down in cmake-gui.

Then, you need to install cliantro by following this document. To switch to cilantro and effectively remove the PCL dependency, pass -DVISUALIZATION_LIBRARY=cilantro and -Dcilantro_DIR=<path_to_cilantro_install_directory> when you run cmake or fill in the corresponding cmake-gui options.

The code also depends on OpenCV and GLFW. On Ubuntu, you can run the following command to install these dependencies:

sudo apt-get install libopencv-dev libglfw3 libglfw3-dev

Now you are ready to build (remember to add cmake arguments as necessary):

git clone https://github.com/weigao95/surfelwarp
cd surfelwarp
mkdir build && cd build
cmake ..
make

If the build is successful, you might continue with the run instruction.