running rs-kinfu on ubuntu 20.4

[Nimaro76]

Hello, I tried running rs-kinfu.cpp example both on Windows and Ubuntu. In both cases, I had problems regarding the openGL dependencies in the code. These errors occur despite the fact that I have installed and tested the openGL and glfw3 on my laptop. I also tested that opencv is installed correctly as well. In the attachment, I send you the errors that I get in Ubuntu 20.4 when running rs-kinfu. cpp. I would appreciate it if you guided me. if rs-kinfu.cpp source code is not working, could you please provide me with alternatives? I want to do 3D scene reconstruction, similar to what you did with SLAM DEMO in ROS ( https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i ) However, I don't want the reconstructed 3D scene visualization to be in ros. thank you for your support. errors on ubuntu : /usr/bin/ld: /tmp/ccrtw961.o: in function draw_pointcloud(float, float, glfw_state&, rs2::points&)': rs-kinfu.cpp:(.text+0xe61): undefined reference toglLoadIdentity' /usr/bin/ld: rs-kinfu.cpp:(.text+0xe6b): undefined reference to glPushAttrib' /usr/bin/ld: rs-kinfu.cpp:(.text+0xe90): undefined reference toglClearColor' /usr/bin/ld: rs-kinfu.cpp:(.text+0xe9a): undefined reference to glClear' /usr/bin/ld: rs-kinfu.cpp:(.text+0xea4): undefined reference toglMatrixMode' /usr/bin/ld: rs-kinfu.cpp:(.text+0xea9): undefined reference to glPushMatrix' /usr/bin/ld: rs-kinfu.cpp:(.text+0xee4): undefined reference togluPerspective' /usr/bin/ld: rs-kinfu.cpp:(.text+0xeee): undefined reference to glMatrixMode' /usr/bin/ld: rs-kinfu.cpp:(.text+0xef3): undefined reference toglPushMatrix' /usr/bin/ld: rs-kinfu.cpp:(.text+0xf3a): undefined reference to gluLookAt' /usr/bin/ld: rs-kinfu.cpp:(.text+0xf6f): undefined reference toglTranslatef' /usr/bin/ld: rs-kinfu.cpp:(.text+0xf95): undefined reference to glRotated' /usr/bin/ld: rs-kinfu.cpp:(.text+0xfba): undefined reference toglRotated' /usr/bin/ld: rs-kinfu.cpp:(.text+0xfcf): undefined reference to glTranslatef' /usr/bin/ld: rs-kinfu.cpp:(.text+0xfe5): undefined reference toglPointSize' /usr/bin/ld: rs-kinfu.cpp:(.text+0xfef): undefined reference to glEnable' /usr/bin/ld: rs-kinfu.cpp:(.text+0xff9): undefined reference toglEnable' /usr/bin/ld: rs-kinfu.cpp:(.text+0x1015): undefined reference to glBindTexture' /usr/bin/ld: rs-kinfu.cpp:(.text+0x105f): undefined reference toglTexParameterfv' /usr/bin/ld: rs-kinfu.cpp:(.text+0x1073): undefined reference to glTexParameteri' /usr/bin/ld: rs-kinfu.cpp:(.text+0x1087): undefined reference toglTexParameteri' /usr/bin/ld: rs-kinfu.cpp:(.text+0x1091): undefined reference to glBegin' /usr/bin/ld: rs-kinfu.cpp:(.text+0x1139): undefined reference toglVertex3fv' /usr/bin/ld: rs-kinfu.cpp:(.text+0x115d): undefined reference to `glTexCoord2fv'

[MartyG-RealSense]

Hi @Nimaro76 If you built the librealsense SDK from source code on Ubuntu with CMake then the flag -DBUILD_GRAPHICAL_EXAMPLES=TRUE should be included in the CMake build instruction in order for GLFW graphics support to be included in the SDK build.

If building librealsense from packages on Ubuntu then the command sudo apt-get install librealsense2-utils should install graphics support.

On Windows, are you building it from source code or using the automated installer program Intel.RealSense.SDK-WIN10 on the SDK Releases page, please?

https://github.com/IntelRealSense/librealsense/releases/tag/v2.54.1

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A RealSense user at the link below suggests an edit to make to the CMakeLists.txt file to resolve GLFW undefined references.

https://stackoverflow.com/questions/70262759/cmake-c-project-librealsense-undefined-reference-to-opengl-with-clion/70262873#70262873

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Regarding other 3D reconstruction solutions, if you are using a single camera then there are RealSense compatible pre-made commercial 3D scanning software packages available.

https://www.dotproduct3d.com/dot3dlite.html

https://www.recfusion.net/

[Nimaro76]

on Windows, I build from source by cloning the Github repository to a certain directory. I will try the ubuntu installation one more time and get back to you. thanks

[Nimaro76]

regarding the mentioned 3D reconstruction suggestions, What I need is a C++ or python code for doing the spatial mapping like what SLAM does in ros or like kimera-VIO but both of these are in ROS. I hope rs-kinfu runs as this is probably the ideal choice

[MartyG-RealSense]

My understanding is that Kimera-VIO is not dependent on ROS but users have the option to interface with it via the Kimera-VIO-ROS wrapper.

https://github.com/MIT-SPARK/Kimera-VIO

https://github.com/MIT-SPARK/Kimera-VIO#ii-using-ros-wrapper

[Nimaro76]

Thanks, I will try it later. for now , I tried building the librealsense using cmake GUI and the rs-kinfu instructions and these were the errors I got when I wanted to build : /usr/bin/ld: cannot find -lvtkRenderingOpenGL2 /usr/bin/ld: cannot find -lvtkCommonCore /usr/bin/ld: cannot find -lvtksys /usr/bin/ld: cannot find -lvtkCommonDataModel /usr/bin/ld: cannot find -lvtkCommonMath /usr/bin/ld: cannot find -lvtkCommonMisc /usr/bin/ld: cannot find -lvtkCommonSystem /usr/bin/ld: cannot find -lvtkCommonTransforms /usr/bin/ld: cannot find -lvtkCommonExecutionModel /usr/bin/ld: cannot find -lvtkIOImage /usr/bin/ld: cannot find -lvtkDICOMParser /usr/bin/ld: cannot find -lvtkmetaio /usr/bin/ld: cannot find -lvtkImagingCore /usr/bin/ld: cannot find -lvtkRenderingCore /usr/bin/ld: cannot find -lvtkCommonColor /usr/bin/ld: cannot find -lvtkCommonComputationalGeometry /usr/bin/ld: cannot find -lvtkFiltersCore /usr/bin/ld: cannot find -lvtkFiltersGeneral /usr/bin/ld: cannot find -lvtkFiltersGeometry /usr/bin/ld: cannot find -lvtkFiltersSources /usr/bin/ld: cannot find -lvtkInteractionStyle /usr/bin/ld: cannot find -lvtkFiltersExtraction /usr/bin/ld: cannot find -lvtkFiltersStatistics /usr/bin/ld: cannot find -lvtkImagingFourier /usr/bin/ld: cannot find -lvtkalglib /usr/bin/ld: cannot find -lvtkRenderingLOD /usr/bin/ld: cannot find -lvtkFiltersModeling /usr/bin/ld: cannot find -lvtkIOPLY /usr/bin/ld: cannot find -lvtkIOCore /usr/bin/ld: cannot find -lvtkFiltersTexture /usr/bin/ld: cannot find -lvtkRenderingFreeType /usr/bin/ld: cannot find -lvtkIOExport /usr/bin/ld: cannot find -lvtkRenderingGL2PSOpenGL2 /usr/bin/ld: cannot find -lvtkIOGeometry /usr/bin/ld: cannot find -lvtkIOLegacy /usr/bin/ld: cannot find -lIconv::Iconv collect2: error: ld returned 1 exit status make[2]: [wrappers/opencv/imshow/CMakeFiles/rs-imshow.dir/build.make:217: wrappers/opencv/imshow/rs-imshow] Error 1 make[1]: [CMakeFiles/Makefile2:1169: wrappers/opencv/imshow/CMakeFiles/rs-imshow.dir/all] Error 2 make: *** [Makefile:130: all] Error 2

And I don't understand it. I checked that I installed vtk and I checked having eigen 3 too. I would appreciate your help.

[MartyG-RealSense]

As far as I can tell, vtk is not a requirement of the modern librealsense2 SDK and these errors have not been previously reported by users who were installing rs-kinfu.

[Nimaro76]

issue resolved , thank you.

[MartyG-RealSense]

You are very welcome. I'm pleased to hear that you achieved a resolution. Thanks very much for the update!