PointCaster

Developing

• pointcaster requires CMake and vcpkg to build and manage dependencies. A working CUDA toolkit installation and nvcc on the path is also required.
• Linux builds are using GCC 12.3.0
• Windows builds use MSVC v143
• CUDA version 12.2.r12

Configure

cmake -B build \
  -DCMAKE_TOOLCHAIN_FILE=/opt/vcpkg/scripts/buildsystems/vcpkg.cmake \
  -DCMAKE_BUILD_TYPE=Debug \
  -DVCPKG_OVERLAY_PORTS=$(pwd)/ports

On Linux systems with multiple versions of GCC

At least Arch is shipping with GCC 13 as default, so the `CMAKE_CXX_COMPILER` CMake option needs to be set:

cmake -B build -DCMAKE_CXX_COMPILER=/usr/bin/gcc-12 ...

Build

cd build
cmake --build .

Pipeline

Sensor Drivers

Notes

• To run multiple Azure Kinect sensors on Linux, you must boot with the following kernel parameter that adjusts memory provided to USB hosts. Set it to a number appropriate for your system and camera count. 256MB is enough (and is probably overkill):

usbcore.usbfs_memory_mb=256

ZeroMQ

Magnum