sunmiaozju / NDT-library

These is ndt library for ndt_mapping and ndt_localization

NDT library

These libraries are from AutoWare
We use these libraries to create dynamic link libraries

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Environment

CUDA9.0 is required.

1. check GPU version: lspci | grep -i nvidia
2. check NVIDIA version: sudo dpkg --list | grep nvidia-*
3. check CUDA version: nvcc --version

Usage:

1. Download all these files, and build it.

• create a new project, and put all these files under src folder.
• conduct catkin_make -DCMAKE_BUILD_TYPE=Release
• check devel/lib folder, and you can get all the .so files.(the libndt_gpu.so is about 1.1MB)

2. Put all the .so files to other folder you want, and add the folder to .bashrc

for example:
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

3. Check CMakeLists.txt to make sure the directory is linked.