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Supporting libraries for Terrasaur
The Terrasaur code is available at GitHub. This directory contains these supporting libraries needed to build Terrasaur:
Shortcut
The support code may take a long time to compile (several hours in some cases). You can instead download a binary package for your architecture from GitHub. The compiled 3rd party products are found in the lib directory (e.g. Terrasaur-YYYY.MM.DD/lib/Darwin_arm64). Copy or move this directory to your source directory under 3rd-party. For example:
mkdir 3rd-party
tar xfz Terrasaur-YYYY.MM.DD.tar.gz
ln -s Terrasaur-YYYY.MM.DD/lib/Darwin_arm64 3rd-party/
You can now compile the Terrasaur code using the released support files.
Building the code
Prerequisites
You may need to install the following packages with your favorite package manager:
- Apache Ant - needed for OpenCV Java support
- CMake - used to build VTK and OpenCV
- SQLite - needed for lidar-optimize
Build the packages
Each subdirectory has a build script which takes a single argument, which is the installation location for the compiled libraries and executables.
The buildAll.bash script will build and install the libraries and executables to the desired location. For example, this would install everything in a directory named for your system architecture (e.g. 3rd-party/Darwin_x86_64 on an intel macOS system):
./buildAll.bash ../3rd-party/$(uname -s)_$(uname -m)
Note for macOS users
We have found that the VTK library will not compile with the XCode command line tools version 16.3 with clang-1700.0.13.3. We could successfully compile after downgrading to the Xcode 16 command line tools with clang-1600.026.3.