Overview
========
rapyuta-kinfu is a demonstration of a cloud-based dense mapping service. For a complete overview visit the wiki: https://github.com/IDSCETHZurich/rapyuta-kinfu/wiki


Install CUDA
============

1) Get Installers from NVIDIA

    Driver:
        http://www.nvidia.com/Download/index.aspx?lang=en-us

        Use lspci to get information about the available GPU

    CUDA:
        https://developer.nvidia.com/cuda-downloads

2) Install Dependencies in host filesystem

    sudo apt-get install build-essential freeglut3-dev libx11-dev libxmu-dev libxi-dev libgl1-mesa-glx libglu1-mesa libglu1-mesa-dev

3) Run Installers in host filesystem

    Driver:
        sudo sh NVIDIA-Linux-x86_64-xxx.xx.run

    CUDA:
        sudo sh cuda_x.x.xx_linux_64_ubuntuxx.xx-x.run

        Do not install the NVIDIA Accelerated Graphics Driver!
    
    sudo -s /bin/bash -c 'echo "/usr/local/cuda/lib64" > /etc/ld.so.conf.d/cuda.conf'
    sudo -s /bin/bash -c 'echo "/usr/local/cuda/lib" >> /etc/ld.so.conf.d/cuda.conf'
    sudo ldconfig

4) Add upstart script ('nvidia.conf') to host filesystem

5) Copy Installers to container filesystem

6) Install Dependencies in container filesystem

    sudo apt-get install build-essential freeglut3-dev libx11-dev libxmu-dev libxi-dev libgl1-mesa-glx libglu1-mesa libglu1-mesa-dev

7) Run Installers in container filesystem

    Driver:
        sudo sh NVIDIA-Linux-x86_64-xxx.xx.run --no-kernel-module
        
        Disregard the failure of '/sbin/depmod -aq'.

    CUDA:
        sudo sh cuda_x.x.xx_linux_64_ubuntuxx.xx-x.run

        Do not install the NVIDIA Accelerated Graphics Driver!
    
    sudo -s /bin/bash -c 'echo "/usr/local/cuda/lib64" > /etc/ld.so.conf.d/cuda.conf'
    sudo -s /bin/bash -c 'echo "/usr/local/cuda/lib" >> /etc/ld.so.conf.d/cuda.conf'
    sudo ldconfig


Preparation
===========

1) Install Dependencies
    
    PCL & kinfu wrapper:
      sudo apt-get install ros-groovy-tf ros-groovy-pcl-msgs ros-groovy-nodelet-core openni-dev libusb-1.0.0-dev libqhull-dev libeigen3-dev libflann-dev libvtk5-qt4-dev

2) Get PCL

    git clone https://github.com/ros-perception/perception_pcl.git -b groovy-unstable-devel

3) Patch CMakeLists.txt

    cd src/perception_pcl
    patch -p1 < ../pcl.patch
    cd ../..


Installation
============

1) Make packages

    catkin_make_isolated -DPCL_SRC=${PWD}/src/perception_pcl/pcl