build error with gflags

[tuchengyuan]

I got a fatal build error as the following:

~/DynSLAM/build$ make Scanning dependencies of target InstRecLib [ 0%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/SegmentationDataset.cpp.o [ 1%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/SparseSFProvider.cpp.o [ 2%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/InstanceTracker.cpp.o In file included from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/Track.h:7:0, from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/InstanceTracker.h:13, from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/InstanceTracker.cpp:3: /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/../InfiniTamDriver.h:11:27: fatal error: gflags/gflags.h: No such file or directory compilation terminated. src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/build.make:110: recipe for target 'src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/InstanceTracker.cpp.o' failed make[2]: [src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/InstanceTracker.cpp.o] Error 1 CMakeFiles/Makefile2:1247: recipe for target 'src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/all' failed make[1]: [src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/all] Error 2 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2

[AndreiBarsan]

Try going to src/gflagsand building that using CMake. It should get placed in the CMake registry and found by CMake.

[tuchengyuan]

Thanks! But I encounter another build error after building the gflags

cd ~/DynSLAM/src/gflags mkdir build && cd build export CXXFLAGS="-fPIC" && cmake .. && make VERBOSE=1 sudo make install

cd ~/DynSLAM/build make

[ 1%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/InstanceTracker.cpp.o [ 1%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/PrecomputedSegmentationProvider.cpp.o [ 2%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/InstanceReconstructor.cpp.o [ 3%] Building CXX object src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/VisoSparseSFProvider.cpp.o /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/VisoSparseSFProvider.cpp: In function ‘Eigen::Matrix4d instreclib::VisoToEigen(const Matrix&)’: /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/VisoSparseSFProvider.cpp:9:28: error: passing ‘const Matrix’ as ‘this’ argument discards qualifiers [-fpermissive] return Eigen::Matrix4d((~viso_matrix).val[0]); ^ In file included from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/../../libviso2/src/matcher.h:34:0, from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/SparseSFProvider.h:7, from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/VisoSparseSFProvider.h:7, from /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/VisoSparseSFProvider.cpp:3: /home/tutu/DynSLAM/src/DynSLAM/InstRecLib/../../libviso2/src/matrix.h:106:11: note: in call to ‘Matrix Matrix::operator~()’ Matrix operator~ (); // transpose ^ src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/build.make:182: recipe for target 'src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/VisoSparseSFProvider.cpp.o' failed make[2]: [src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/VisoSparseSFProvider.cpp.o] Error 1 CMakeFiles/Makefile2:1247: recipe for target 'src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/all' failed make[1]: [src/DynSLAM/InstRecLib/CMakeFiles/InstRecLib.dir/all] Error 2 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2

[AndreiBarsan]

Hmm, try https://github.com/AndreiBarsan/DynSLAM/issues/33 as it seems like a similar problem. (I don't have access to a CUDA-enabled workstation to test these things at the moment. I'm sorry about that... :( )

[tuchengyuan]

The solution on #33 works. I modify VisoSparseSFProvider.cpp as the following: Eigen::Matrix4d VisoToEigen(const Matrix &viso_matrix) { // The '~' transposes the matrix... Matrix a=viso_matrix; return Eigen::Matrix4d((~a).val[0]); }

Then make can go on until meet the the following link error:

[ 65%] Linking CXX executable DynSLAMGUI
CMakeFiles/DynSLAMGUI.dir/src/DynSLAM/DynSLAMGUI.cpp.o: In function `backward::TraceResolverLinuxImpl<backward::trace_resolver_tag::libdw>::find_fundie_by_pc(Dwarf_Die*, unsigned long, Dwarf_Die*)':
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1394: undefined reference to `dwarf_child'
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1409: undefined reference to `dwarf_attr'
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1410: undefined reference to `dwarf_formflag'
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1422: undefined reference to `dwarf_siblingof'

.....
.....

/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1373: undefined reference to `dwarf_formudata'
CMakeFiles/DynSLAMGUI.dir/src/DynSLAM/DynSLAMGUI.cpp.o: In function `void backward::details::deleter<void, Dwfl*, &dwfl_end>::operator()<Dwfl*>(Dwfl*&) const':
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:303: undefined reference to `dwfl_end'
CMakeFiles/DynSLAMGUI.dir/src/DynSLAM/DynSLAMGUI.cpp.o: In function `backward::TraceResolverLinuxImpl<backward::trace_resolver_tag::libdw>::die_has_pc(Dwarf_Die*, unsigned long)':
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1371: undefined reference to `dwarf_attr'
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:1373: undefined reference to `dwarf_formudata'
CMakeFiles/DynSLAMGUI.dir/src/DynSLAM/DynSLAMGUI.cpp.o: In function `void backward::details::deleter<void, Dwfl*, &dwfl_end>::operator()<Dwfl*>(Dwfl*&) const':
/home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp/backward.hpp:303: undefined reference to `dwfl_end'
collect2: error: ld returned 1 exit status
CMakeFiles/DynSLAMGUI.dir/build.make:821: recipe for target 'DynSLAMGUI' failed
make[2]: *** [DynSLAMGUI] Error 1
CMakeFiles/Makefile2:74: recipe for target 'CMakeFiles/DynSLAMGUI.dir/all' failed
make[1]: *** [CMakeFiles/DynSLAMGUI.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

the cmake result is the following: -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- backwards-cpp-enhanced stack traces? ON -- Found Eigen3: /home/tutu/DynSLAM/src/eigen (Required is at least version "2.91.0") -- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- CUDA found: TRUE -- Found libdw: /usr/lib/x86_64-linux-gnu/libdw.so
-- Found libbfd: /usr/lib/x86_64-linux-gnu/libbfd.so
-- BACKWARD_HAS_UNWIND=1 -- BACKWARD_HAS_BACKTRACE=0 -- BACKWARD_HAS_BACKTRACE_SYMBOL=0 -- BACKWARD_HAS_DW=1 -- BACKWARD_HAS_BFD=0 -- Found Backward: /home/tutu/DynSLAM/src/InfiniTAM/InfiniTAM/ORUtils/third_party/backward-cpp
-- Looking for C++ include unistd.h -- Looking for C++ include unistd.h - found -- Looking for C++ include stdint.h -- Looking for C++ include stdint.h - found -- Looking for C++ include inttypes.h -- Looking for C++ include inttypes.h - found -- Looking for C++ include sys/types.h -- Looking for C++ include sys/types.h - found -- Looking for C++ include sys/stat.h -- Looking for C++ include sys/stat.h - found -- Looking for C++ include fnmatch.h -- Looking for C++ include fnmatch.h - found -- Looking for C++ include stddef.h -- Looking for C++ include stddef.h - found -- Check size of uint32_t -- Check size of uint32_t - done -- Looking for strtoll -- Looking for strtoll - found -- CUDA found: TRUE -- OpenNI found: FALSE -- LibRoyale found: FALSE -- libuvc found: FALSE -- librealsense found: FALSE -- libpng found: TRUE -- Compile: 52 -- compiled -> 0 -- worked -- Using CUDA compute capability: 52 -- Using CUDA arch: 52 -- Configuring done -- Generating done -- Build files have been written to: /home/tutu/DynSLAM/build

Before doing cmake, I apt-get install libdw-dev binutils-dev in order to let cmake find libdw and libbfd.

So how to do next to fix the current link issue? Thanks!

[AndreiBarsan]

Hmm, interesting. Could you try to disable libdw support from CMake? Alternatively, you could try to add #define BACKWARD_HAS_DW 0 to DynSlamGUI.cpp, but I'm not 100% sure it would work.

I only used libbfd during development and didn't see any error like that, so it may be due to some libdw weirdness.

[tuchengyuan]

After executing sudo apt-get remove libdw-dev, I make successfully at last. My whole script for building on Ubuntu 16.04 is:

sudo apt-get install git libxmu-dev libxi-dev freeglut3 freeglut3-dev glew-utils libglew-dev libglew-dbg sudo apt-get install cmake doxygen libboost-python-dev libopencv-dev libboost-all-dev python-opencv sudo apt-get install binutils-dev libpng++-dev

git clone --recursive https://github.com/AndreiBarsan/DynSLAM

cd DynSLAM/src/Pangolin/ mkdir build cd build cmake .. make

cd ../../gflags mkdir build && cd build export CXXFLAGS="-fPIC" && cmake .. && make VERBOSE=1 sudo make install

nano ~/DynSLAM/src/DynSLAM/InstRecLib/VisoSparseSFProvider.cpp Eigen::Matrix4d VisoToEigen(const Matrix &viso_matrix) { // The '~' transposes the matrix... Matrix a=viso_matrix; return Eigen::Matrix4d((~a).val[0]); }

cd ~/DynSLAM mkdir build cd build cmake .. make

[AndreiBarsan]

That's awesome news! I really appreciate you sharing the setup script!!

Have you managed to get the system to run on an example sequence, such as this short one? http://www.cs.toronto.edu/~iab/dynslam/mini-kitti-odometry-seq-06-for-dynslam.7z

[tuchengyuan]

Yeah. I run "build/DynSLAM --use_dispnet --dataset_root=path/to/extracted/archive" with mini-kitti-odometry-seq-06-for-dynslam.7z successfully. But is still on the way to test with KITTI Odometry dataset.