Fix C++ standard and Eigen dependency for CUDA build

Build Errors Fixed:
- Add libeigen3-dev for Eigen/Dense header
- Add ninja-build for faster compilation
- Patch mycuda setup.py: change -std=c++14 to -std=c++17
- PyTorch requires C++17, mycuda was hardcoded to C++14

Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>

Dockerfile

@@ -29,6 +29,8 @@ RUN apt-get update && apt-get install -y \
     libxext6 \
     libxrender-dev \
     libgomp1 \
+    libeigen3-dev \
+    ninja-build \
     && rm -rf /var/lib/apt/lists/*
 
 # Set python3.10 as default
@@ -52,7 +54,10 @@ RUN git clone https://github.com/NVlabs/FoundationPose.git /app/FoundationPose
 
 # Build FoundationPose C++ extensions (skip kaolin - optional dependency)
 WORKDIR /app/FoundationPose
-RUN cd bundlesdf/mycuda && pip install . --no-build-isolation
+# Patch mycuda setup.py to use C++17 instead of C++14 (PyTorch requires C++17)
+RUN cd bundlesdf/mycuda && \
+    sed -i 's/-std=c++14/-std=c++17/g' setup.py && \
+    pip install . --no-build-isolation
 RUN cd mycpp && python setup.py build_ext --inplace
 
 # Copy application files