在尝试使用BundleFusion结合Intel RealSense D435i进行实时三维建图时，遇到CUDA编译错误，具体表现为无法找到boost/serialization/array_wrapper.hpp头文件。该错误可能源于Boost库未正确安装或路径未被编译器识别。同时，CUDA编译命令返回错误代码2，可能与CUDA版本、Visual Studio配置或依赖项设置有关。解决方法包括检查Boost库的安装，确保其包含在项目路径中，以及检查CUDA和Visual Studio的配置，确保所有依赖项都已正确设置并指向正确的版本。
1.refer articles
1.BundleFusion使用Intel RealSense D435i深度相机实现
1.2 结合1参考-BundleFusion在win10+vs2013+cuda8.0上的实现
2.Intel RealSense D435i + BundleFusion 实现实时三维建图
2.方案生成errors
错误 18 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 19 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\CUDACache.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\CUDACache.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 20 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 21 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\CUDAImageUtil.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\CUDAImageUtil.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 22 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 23 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\SBA.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\SBA.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 24 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 25 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\OnlineBundler.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\OnlineBundler.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 26 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 27 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\SIFTImageManager.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\SIFTImageManager.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 28 error C1083: 无法打开包括文件: “boost/serialization/array_wrapper.hpp”: No such file or directory D:\vs2013\BundleFusion-master\external\mlib\include\core-base\common.h 61
错误 29 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=0 --ptxas-options=-v --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\SolverBundling.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\Solver\SolverBundling.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
错误 30 error C2146: 语法错误: 缺少“;”(在标识符“gridh”的前面) D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\ProgramCU.cu 471
错误 31 error C2059: 语法错误:“>” D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\ProgramCU.cu 471
错误 32 error C2146: 语法错误: 缺少“;”(在标识符“gridv”的前面) D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\ProgramCU.cu 478
错误 33 error C2059: 语法错误:“>” D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\ProgramCU.cu 478
错误 34 error MSB3721: 命令“"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\bin\nvcc.exe" -gencode=arch=compute_35,code=\"sm_35,compute_35\" --use-local-env --cl-version 2013 -ccbin "D:\vs2013\VC\bin\x86_amd64" -rdc=true -IInclude\cutil\inc -I"D:\vs2013\BundleFusion-master\FriedLiver" -ISource\DXUT\Optional -ISource\DXUT\Core -IInclude\Uplink -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\include" -I"C:\Program Files (x86)\Intel RealSense SDK 2.0\third-party\\" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" -I"C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v8.0\include" --keep-dir x64\Release -maxrregcount=62 --machine 64 --compile -cudart static -use_fast_math -DWIN32 -DNDEBUG -D_WINDOWS -DD3DXFX_LARGEADDRESS_HANDLE -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX -D_UNICODE -DUNICODE -Xcompiler "/EHsc /W0 /nologo /Ox /FS /Zi /MT " -o x64\Release\ProgramCU.cu.obj "D:\vs2013\BundleFusion-master\FriedLiver\Source\SiftGPU\ProgramCU.cu"”已退出，返回代码为 2。 C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V120\BuildCustomizations\CUDA 8.0.targets 689
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