cmake error

[darkdelting]

gtsam_points/cuda/kernels/vgicp_derivatives.cuh(49): error: calling a host function("Eigen::MatrixBase< ::Eigen::CwiseBinaryOp< ::Eigen::internal::scalar_sum_op<float, float> , const ::Eigen::Matrix<float, (int)3, (int)3, (int)0, (int)3, (int)3> , const ::Eigen::Matrix<float, (int)3, (int)3, (int)0, (int)3, (int)3> > > ::inverse() const") from a device function("gtsam_points::vgicp_derivatives_kernel::operator () const") is not allowed

[koide3]

What is the version of your ubuntu? The error should be related to the version of Eigen. See this thread: koide3/glim#89 (comment)

[darkdelting]

ununtu20.04 eigen3.3.7 ,
Thank your anwser , My Eigen versin should >= 3.4.0

[koide3]

For Ubuntu 20.04, you need to manually install Eigen and cmake because the system default ones are too old. Please take a look at

gtsam_points/docker/ubuntu/Dockerfile.focal.cuda

Line 16 in 13d3bb7

RUN git clone https://gitlab.com/libeigen/eigen.git

.