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libcudaHOG

This library is provided by the RWTH Aachen and will be downloaded from http://www.vision.rwth-aachen.de/projects/

This directory contains a cmake wrapper file that will take care of downloading, unpacking, building and installing the tar-ball. It will also create a pkg-config file to allow cmake to find it in other projects. At the moment this library is only needed to build the ground_hog package.

Dependencies

  • NVIDIA - CUDA: Please go to: https://developer.nvidia.com/cuda-downloads to find the latest version (tested with version 10.1 under Ubuntu 16.04)
    • This requires a NVIDIA graphics card
    • Make sure to follow the instructions especially the part about exporting the PATH and LD_LIBRARY_PATH variables. Add these statements to your .bashrc.
  • qmake (Qt4)

Installation

As mentioned the cmake file will take care of almost everything. Just follow these simple instructions:

  • Change into the rwth_perception_people/3rd_party directory
  • Create a build directory to keep it clean: mkdir build; cd build
  • Run cmake: cmake .. This will install everything to /usr/local and requires sudo rights.
    • To install it in a custom location: cmake .. -DCMAKE_INSTALL_PREFIX=/my/path/
    • If you choose to install it in a custom location, you have to make sure that pkg-config finds it: export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/my/path/lib/pkgconfig You can add this to your .bashrc because other projects may need to find it during compile time. If you installed the library to /usr/local, you do not have to export any paths.
  • Run make: make. This will download, unpack and build the files.
  • Install library and headers: sudo make install Omit the sudo if you chose a custom destination that does not require sudo rights.

Troubleshooting

  • If you are on a 32bit system, you will get an error when linking the library: /usr/bin/ld: cannot find -lcudart. To get rid of this you have to:
    • Edit the build/libcudaHOG/src/libcudaHOG/cudaHOG/cudaHOG.pro file. Note: you have to run make before doing so because this will download and unzip the tarball. Otherwise you do not have that file.
    • Find the line that says: LIBS += -lcudart -L/usr/local/cuda/lib64 and change it to: LIBS += -lcudart -L/usr/local/cuda/lib.
    • Now run make again.

IMPORTANT!

  • If there is an error "undefined reference to 'QString::fromAscii_helper" while running "make", edit "build/libcudaHOG/src/libcudaHOG/cudaHOG.pro" and remove the lines with the "cudaHOGDetect" and "cudaHOGDump" subdirs! (NOTE: This is now automatically patched by CMakeLists.txt).

  • If there is an error "/usr/bin/ld: cannot find -lboost_program_options-mt", please make sure you have "libboost_program_options*." in your "/usr/lib" directory (use command locate libboost_program_options). If you have not yet installed Boost, you can try command sudo apt-get install libboost_program_options-dev. Else if you have "libboost_program_options.*", change 'boost_program_options-mt' to 'boost_program_options' in your Makefile and other files (use command grep 'boost_program_options-mt' -nr in the build dir to find these files) (NOTE: This is now automatically done through the script fix_boost_dependency.sh, which is executed as part of CMakeLists.txt.)

  • If there is an error "nvcc fatal : Value 'sm_11' is not defined for option 'gpu-architecture'", please make sure the CUDA SDK has been installed and use the command nvcc --help|grep "Allowed values for this option" -n to see which gpu architecture is supported (eg. 'compute_20' or 'sm_20'), and change 'sm_11' to others in the files (use command grep 'sm_11' -nr in the build dir to find these files) (NOTE: CMakeLists.txt will now automatically apply a patch to change this to sm_30 in order to avoid this error.)

  • In case of CUDA Error 999 when launching sample applications from the CUDA SDK, this might be a permissions problem! Try if the samples work when run via sudo. In that case, a dirty workaround is to call one of the applications (e.g. deviceQueryDrv) once in an /etc/init/ script at login-session-start.