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MarvinChung / Orbeez-SLAM

GNU General Public License v3.0
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About Thirdparty #18

Open songwkjack opened 10 months ago

songwkjack commented 10 months ago

Can I compile third-party libraries first and then compile your work？That is, putting third-party libraries into Orbeez-SLAM/build/Thirdparty and then complie orbeez-slam. Since I had some warnings such as the follow picture.

9ff85cd312b7786a743dbc81a4040dd

Thank you for your help!

MarvinChung commented 10 months ago

@songwkjack I believe it's okay as it's just a warning message. However, if you intend to compile g2o first, you'll need to make modifications to the CMakeLists.txt file. After successfully compiling and building g2o (I assume it is under Orbeez-SLAM/Thirdparty/g2o) , you can use the following CMakeLists.txt to compile your project.

cmake_minimum_required(VERSION 3.19)
project(ORBEEZ LANGUAGES CXX CUDA)

option(ORBEEZ_BUILD_WITH_GUI "Build with GUI support (requires GLFW and GLEW)?" ON)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

if( ORBEEZ_BUILD_WITH_GUI )
    set(NGP_BUILD_WITH_GUI ON CACHE BOOL "build ngp gui" FORCE)
    list(APPEND ORBEEZ_DEFINITIONS -DORBEEZ_GUI)
else ()
    set(NGP_BUILD_WITH_GUI OFF CACHE BOOL "not building ngp gui" FORCE)
endif( ORBEEZ_BUILD_WITH_GUI )

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# ##############################################################################
# Build type and C++ compiler setup
# ##############################################################################

# Set a default configuration if none was specified
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
    message(STATUS "No release type specified. Setting to 'Release'.")
    set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "RelWithDebInfo")
endif()

if(APPLE)
    set(CMAKE_MACOSX_RPATH ON)
endif()

if(MSVC)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /D_CRT_SECURE_NO_WARNINGS")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP24")
else()
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
endif()

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_EXTENSIONS OFF)

# ##############################################################################
# CUDA compiler setup
# ##############################################################################
set(CMAKE_CUDA_STANDARD 14)
set(CMAKE_CUDA_STANDARD_REQUIRED ON)
set(CMAKE_CUDA_EXTENSIONS OFF)
set(CUDA_LINK_LIBRARIES_KEYWORD PUBLIC)

get_directory_property(ORBEEZ_HAS_PARENT PARENT_DIRECTORY)

if(MSVC)
    list(APPEND CUDA_NVCC_FLAGS "-Xcompiler=-bigobj")
else()
    list(APPEND CUDA_NVCC_FLAGS "-Xcompiler=-mf16c")
    list(APPEND CUDA_NVCC_FLAGS "-Xcompiler=-Wno-float-conversion")
    list(APPEND CUDA_NVCC_FLAGS "-Xcompiler=-fno-strict-aliasing")
    list(APPEND CUDA_NVCC_FLAGS "-Xcompiler=-fPIC")
    set(CUDA_TOOLKIT_ROOT_DIR /opt/cuda/targets/x86_64-linux)
endif()

list(APPEND CUDA_NVCC_FLAGS "--extended-lambda")
list(APPEND CUDA_NVCC_FLAGS "--expt-relaxed-constexpr")

# ##############################################################################
# Dependencies (ordered alphabetically)
# ##############################################################################

# ###############
# DBoW2 #
# ###############
add_subdirectory(Thirdparty/DBoW2)
list(APPEND IncludeList "${CMAKE_CURRENT_SOURCE_DIR}/Thirdparty/DBoW2")

# ###############
# g2o #
# ###############
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/cmake_modules)

find_package(G2O REQUIRED)
if(NOT G2O_FOUND)
   message(FATAL_ERROR "G2O not found.")
endif()

set(G2O_LIBRARIES
${G2O_CORE_LIBRARY} 
${G2O_STUFF_LIBRARY}
${G2O_SOLVER_DENSE} 
${G2O_SOLVER_EIGEN} 
${G2O_TYPES_SBA}
${G2O_TYPES_SLAM3D}
${G2O_TYPES_SIM3}
)

# ###############
# instant-ngp #
# ###############
add_subdirectory(Thirdparty/instant-ngp-kf)

list(APPEND IncludeList "${CMAKE_CURRENT_SOURCE_DIR}/Thirdparty/instant-ngp-kf/include")
list(APPEND IncludeList "${CMAKE_CURRENT_SOURCE_DIR}/Thirdparty/instant-ngp-kf/src")

# ##############################################################################
# Packages
# ##############################################################################
find_package(OpenCV 4 PATHS "/usr/include" "${CMAKE_SOURCE_DIR}/Thirdparty/opencv-4.5.5/build")

if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)

    if(NOT OpenCV_FOUND)
        message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
endif()

find_package(Eigen3 REQUIRED)

set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)

# ##############################################################################
# Program
# ##############################################################################
list(APPEND IncludeList "${CMAKE_CURRENT_SOURCE_DIR}/include")
list(APPEND IncludeList "${EIGEN3_INCLUDE_DIR}")
list(APPEND IncludeList "${PROJECT_SOURCE_DIR}")

message(VERBOSE "g2o_SOURCE_DIR: " ${g2o_SOURCE_DIR})
message(VERBOSE "G2O_LIBRARIES: " ${G2O_LIBRARIES})
message(VERBOSE "g2o_LIBRARY_OUTPUT_DIRECTORY: " ${g2o_LIBRARY_OUTPUT_DIRECTORY})

set(SOURCES
    src/Converter.cu
    src/Frame.cu
    src/FrameDrawer.cu
    src/Initializer.cu
    src/KeyFrame.cu
    src/KeyFrameDatabase.cu
    src/Map.cu
    src/MapDrawer.cu
    src/MapPoint.cu
    src/NerfMapping.cu
    src/Optimizer.cu
    src/ORBextractor.cu
    src/ORBmatcher.cu
    src/PnPsolver.cu
    src/Sim3Solver.cu
    src/System.cu
    src/Tracking.cu
    src/Viewer.cu
    src/LoopClosing.cu
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${CMAKE_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_BINARY_DIR})

get_filename_component(CUDA_COMPILER_BIN "${CMAKE_CUDA_COMPILER}" DIRECTORY)

set(ORBEEZ_LIBRARIES
    Thirdparty/g2o/lib/libg2o.so
    ${OpenCV_LIBS}
    ngp
    DBoW2
)

if(ORBEEZ_HAS_PARENT)
    set(CMAKE_CUDA_ARCHITECTURES ${CMAKE_CUDA_ARCHITECTURES} PARENT_SCOPE)
endif()

if(ORBEEZ_HAS_PARENT)
    set(ORBEEZ_LIBRARIES ${ORBEEZ_LIBRARIES} PARENT_SCOPE)
endif()

add_library(ORBEEZ STATIC ${SOURCES})

target_link_libraries(ORBEEZ PUBLIC
    ${G2O_LIBRARIES}
    ${OpenCV_LIBS}
    ${EIGEN3_LIBS}
    ngp
    DBoW2
)

target_include_directories(ORBEEZ PUBLIC
    ${IncludeList}
    ${PROJECT_BINARY_DIR}
    ${PROJECT_BINARY_DIR}/Thirdparty/instant-ngp-kf/
    build/Thirdparty/instant-ngp-kf/
    ${g2o_BINARY_DIR}
    ${g2o_SOURCE_DIR} 
    ${G2O_INCLUDE_DIR}
)

set_target_properties(ORBEEZ PROPERTIES CUDA_RESOLVE_DEVICE_SYMBOLS ON)
set_target_properties(ORBEEZ PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
target_compile_options(ORBEEZ PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(ORBEEZ PUBLIC ${ORBEEZ_DEFINITIONS})

if(Python_FOUND)
    add_library(pyngp SHARED ThirdParty/instant-ngp-kf/src/python_api.cu)
    set_target_properties(pyngp PROPERTIES CXX_VISIBILITY_PRESET "hidden")
    set_target_properties(pyngp PROPERTIES CUDA_VISIBILITY_PRESET "hidden")
    target_link_libraries(pyngp PUBLIC ngp ${PYTHON_LIBRARIES} pybind11::module)
    target_compile_options(pyngp PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
    target_compile_definitions(pyngp PUBLIC -DNGP_PYTHON ${NGP_DEFINITIONS} ${TCNN_DEFINITIONS})
    pybind11_extension(pyngp)

    if(MSVC)
        # Copy dlls needed at runtime
        file(GLOB CUBLAS_DLLS "${CUDA_COMPILER_BIN}/cublas*.dll")

        if(CUBLAS_DLLS)
            add_custom_command(TARGET pyngp POST_BUILD
                COMMAND ${CMAKE_COMMAND} -E copy ${CUBLAS_DLLS} $<TARGET_FILE_DIR:pyngp>
                COMMAND_EXPAND_LISTS
            )
        endif()
    endif()
endif()

message(STATUS "ORBEEZ_BUILD_WITH_GUI:" ${ORBEEZ_BUILD_WITH_GUI})
message(STATUS "ORBEEZ_DEFINITIONS:" ${ORBEEZ_DEFINITIONS})
message(STATUS "PROJECT_SOURCE_DIR" ${PROJECT_SOURCE_DIR}/)
# Build examples

# Monocular
add_executable(mono_tum Examples/Monocular/mono_tum.cu)
target_link_libraries(mono_tum ORBEEZ ngp tiny-cuda-nn)
target_compile_options(mono_tum PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(mono_tum PUBLIC ${ORBEEZ_DEFINITIONS})

add_executable(mono_replica Examples/Monocular/mono_replica.cu)
target_link_libraries(mono_replica ORBEEZ ngp tiny-cuda-nn)
target_compile_options(mono_replica PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(mono_replica PUBLIC ${ORBEEZ_DEFINITIONS})

add_executable(mono_scannet Examples/Monocular/mono_scannet.cu)
target_link_libraries(mono_scannet ORBEEZ ngp tiny-cuda-nn)
target_compile_options(mono_scannet PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(mono_scannet PUBLIC ${ORBEEZ_DEFINITIONS})

# RGBD
add_executable(rgbd_tum Examples/RGB-D/rgbd_tum.cu)
target_link_libraries(rgbd_tum ORBEEZ ngp tiny-cuda-nn)
target_compile_options(rgbd_tum PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(rgbd_tum PUBLIC ${ORBEEZ_DEFINITIONS})

add_executable(rgbd_replica Examples/RGB-D/rgbd_replica.cu)
target_link_libraries(rgbd_replica ORBEEZ ngp tiny-cuda-nn)
target_compile_options(rgbd_replica PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(rgbd_replica PUBLIC ${ORBEEZ_DEFINITIONS})

add_executable(rgbd_scannet Examples/RGB-D/rgbd_scannet.cu)
target_link_libraries(rgbd_scannet ORBEEZ ngp tiny-cuda-nn)
target_compile_options(rgbd_scannet PRIVATE $<$<COMPILE_LANGUAGE:CUDA>:${CUDA_NVCC_FLAGS}>)
target_compile_definitions(rgbd_scannet PUBLIC ${ORBEEZ_DEFINITIONS})
songwkjack commented 10 months ago

Thank you for your help! When I compiled again, ignoring these warnings, it did, but without the GUI you showed me, such as the picture in your work(tips.png and extrinsic.png). Only the following image is generated. I used the GUI build command and the associated execution program. These commands are in your working directory（build.md）. So, I want to ask if this is because the environment is set up wrong or if these commands don't output GUI Windows. Again, thank you!

9b3f82b0fa49678801f0ee4a4645dc5 53a9eb6ff5d687f334862754ef3152f
songwkjack commented 10 months ago
9b3f82b0fa49678801f0ee4a4645dc5
MarvinChung commented 10 months ago

Thank you for your help! When I compiled again, ignoring these warnings, it did, but without the GUI you showed me, such as the picture in your work(tips.png and extrinsic.png). Only the following image is generated. I used the GUI build command and the associated execution program. These commands are in your working directory（build.md）. So, I want to ask if this is because the environment is set up wrong or if these commands don't output GUI Windows. Again, thank you! 9b3f82b0fa49678801f0ee4a4645dc5 53a9eb6ff5d687f334862754ef3152f

It should work correctly, as outlined in Docker.md. You can use Windows WSL2 with Docker, and it supports a graphical user interface (GUI). I noticed the presence of the keyword "container" in your terminal. Could you please clarify whether you are using Docker or a virtual machine on your Windows system? The issue you're encountering might be related to missing GUI packages. Ensure that all necessary graphical dependencies are installed; it seems that you are close to resolving the matter.

songwkjack commented 10 months ago

Thank you for your help!
I'm using a leased server. Maybe the lack of a GUI package causing this problem.