对‘glow::glTranslate(float, float, float)’未定义的引用

ZT-AIA commented 8 months ago

Hello, I've recently encountered some problems using this awesome project. Computer environment : cuda 10.1+cudnn 7.6.2+tensort5.1.5 Prerequisites : Installation rangenet++ is installed and running successfully.

Three errors (the first two have been resolved):

clone glow and semantic_suma compiles and runs, he starts with the error ;Unknown CMake command "COMPILE_SHADERS" I passed these solved it by adding the following to CMakeList.txt:;
```
include(/home/gwz/catkin_rangenet/src/glow/cmake/GenCppFile.cmake)
include(/home/gwz/catkin_rangenet/src/glow/cmake/GlowShaderCompilation.cmake); 
```

but then another error occurred: fatal error: glow/GlBuffer.h: no such file or directory. I solved it by adding the following to CMakeList.txt:

include_directories("/home/gwz/catkin_rangenet/src/glow/")
include_directories("/home/gwz/catkin_rangenet/src/glow/include/")
include_directories("/home/gwz/catkin_rangenet/src/glow/src/")
include_directories("/home/gwz/catkin_rangenet/src/glow/src/glow/")

This last problem (below) I don't know what to do, please help!

MakeFiles/visualizer.dir/src/io/SimulationReader.cpp.o：在函数‘SimulationReader::SimulationReader(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中：
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:72：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:73：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:73：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:74：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:75：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:75：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:76：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:76：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:77：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:77：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:78：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:78：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:79：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:79：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:81：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:81：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:82：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:82：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:83：对‘glow::glRotateZ(float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:83：对‘glow::glTranslate(float, float, float)’未定义的引用
/home/gwz/catkin_rangenet/src/semantic_suma/src/io/SimulationReader.cpp:84：对‘glow::glRotateZ(float)’未定义的引用
....

Zhangjyhhh commented 8 months ago

have you solved this problem ,i met the same question

jbehley commented 8 months ago

I will have a look in the next days to replace the catkin-based setup with a proper cmake-only compile. I changed the way that glow is build now and that seems to broke the compilation here.

ZT-AIA commented 8 months ago

I then made some changes (the absolute paths are set so you need to change them to your own), which I'm not very good at, so some of the changes may be redundant, and then it compiled and ran successfully;

find_package(Eigen3 REQUIRED)
find_package(X11)

include_directories("/home/gwz/catkin_rangenet/src/glow/include")
include_directories("/usr/include/EGL")
file(GLOB GLOW_SRC_FILES 
    "/home/gwz/catkin_rangenet/src/glow/src/glow/*.cpp"
    "/home/gwz/catkin_rangenet/src/glow/src/glow/util/*.cpp")

add_executable(visualizer

  src/io/KITTIReader.cpp
  src/io/SimulationReader.cpp
  src/io/RobocarReader.cpp

  # use rangenet
  src/io/RangenetAPI.cpp

  src/opengl/Mesh.cpp
  src/opengl/Model.cpp
  src/opengl/ObjReader.cpp

  src/util/kitti_utils.cpp
  src/util/ScanAccumulator.cpp

  ${UI_HDRS}
  ${VIZ_SHADER_SRC}
  ${GLOW_SRC_FILES}

  src/visualizer/GraphWidget.cpp
  src/visualizer/ViewportWidget.cpp
  src/visualizer/VisualizerWindow.cpp
  src/visualizer/visualizer.cpp

  )

target_link_libraries(visualizer suma ${X11_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES}  EGL gtsam  pthread robovision Qt5::OpenGL Qt5::Widgets ${OpenCV_LIBS})

The complete CMakeList is as follows


cmake_minimum_required(VERSION 3.2.0)

project(semantic_suma)

find_package(OpenGL REQUIRED)
find_package(Qt5Gui REQUIRED) 
find_package(Qt5OpenGL REQUIRED)
find_package(GLEW REQUIRED)
find_package(Boost REQUIRED COMPONENTS filesystem system)
find_package(GTSAM REQUIRED)
find_package(OpenCV REQUIRED)
find_package(catkin COMPONENTS  rangenet_lib)
find_package(Eigen3 REQUIRED)
find_package(X11)

catkin_package(
  INCLUDE_DIRS src
  LIBRARIES suma
  CATKIN_DEPENDS
  glow
    rangenet_lib
  DEPENDS
    Boost
)

include_directories(${catkin_INCLUDE_DIRS})

set(CMAKE_INCLUDE_CURRENT_DIR ON) # needs to be activated for qt generated files in build directory.
set(CMAKE_AUTOMOC ON)
set(CMAKE_CXX_FLAGS "-std=c++11 -O3  -Wall ${CMAKE_CXX_FLAGS}")
set(CMAKE_CXX_FLAGS "-UDEBUG_GL -UDEBUG -DNDEBUG -g2 ${CMAKE_CXX_FLAGS}")

# since now everything resides in "bin", we have to copy some stuff.

SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)

include_directories(
    ${QT5_INCLUDE_DIRS}
    ${GLEW_INCLUDE_DIRS}
    ${GTSAM_INCLUDE_DIRS}
    /usr/include/eigen3
    ${rangenet_lib_INCLUDE_DIRS}
    ${TENSORRT_INCLUDE_DIRS}
    )
include_directories(src/)
include_directories("/home/gwz/catkin_rangenet/src/glow/include")
include_directories("/usr/include/EGL")

option(ENABLE_NVIDIA_EXT "Enable Nvidia GL capabilites." OFF)
set(OPENGL_VERSION 330 CACHE STRING "Available OpenGL version")

if(ENABLE_NVIDIA_EXT)
  message("Enabling Nvidia OpenGL extensions.")
  add_definitions(-DQUERY_MEMORY_NV)
endif()

add_definitions(-D__GL_VERSION=${OPENGL_VERSION})
message(STATUS "Using OpenGL version ${OPENGL_VERSION}.")
include(/home/gwz/catkin_rangenet/src/glow/cmake/GenCppFile.cmake)
include(/home/gwz/catkin_rangenet/src/glow/cmake/GlowShaderCompilation.cmake)

set(COMP_SHADER_SRC ${CMAKE_BINARY_DIR}/computation_shaders.cpp)
set(VIZ_SHADER_SRC ${CMAKE_BINARY_DIR}/visualization_shaders.cpp)

COMPILE_SHADERS(${COMP_SHADER_SRC}
  src/shader/color.glsl
  src/shader/color_map.glsl

  src/shader/empty.vert
  src/shader/empty.frag
  src/shader/quad.geom
  src/shader/quad_inverse.geom
  src/shader/passthrough.frag

  src/shader/Frame2Model_jacobians.frag
  src/shader/Frame2Model_jacobians.geom
  src/shader/Frame2Model_jacobians.vert

  src/shader/render_surfels.frag
  src/shader/render_surfels.geom
  src/shader/render_surfels.vert
  src/shader/render_compose.frag
  src/shader/update_surfels.vert
  src/shader/update_surfels.geom
  src/shader/update_surfels.frag
  src/shader/extract_surfels.vert
  src/shader/init_radiusConf.vert
  src/shader/init_radiusConf.frag
  src/shader/copy_surfels.vert
  src/shader/copy_surfels.geom
  src/shader/gen_surfels.frag
  src/shader/gen_surfels.geom
  src/shader/gen_surfels.vert
  src/shader/init_depthimg.frag
  src/shader/avg_vertexmap.frag
  src/shader/gen_depthimg.vert
  src/shader/gen_depthimg.frag
  src/shader/gen_normalmap.frag
  src/shader/gen_indexmap.vert
  src/shader/gen_indexmap.frag
  src/shader/bilateral_filter.frag
  src/shader/gen_vertexmap.vert
  src/shader/gen_vertexmap.frag

  src/shader/gen_semanticmap.frag
  src/shader/floodfill.frag

  # needed for surfelmap:
  src/shader/draw_surfels.frag
  src/shader/draw_surfels.geom
  src/shader/draw_surfels.vert
  src/shader/draw_surfelPoints.vert
  src/shader/draw_submaps.vert
  src/shader/draw_submaps.geom
  src/shader/coloredvertices.frag
  src/shader/coloredvertices.vert
)

COMPILE_SHADERS(${VIZ_SHADER_SRC} 
  src/shader/draw_normalmap3d.geom
  src/shader/draw_normalmap3d.vert
  src/shader/draw_vertexmap3d.vert
  src/shader/draw_depthimg.frag
  src/shader/draw_normalmap.frag

  src/shader/draw_residuals.frag
  src/shader/draw_mesh.vert
  src/shader/draw_mesh.frag

  src/shader/draw_posegraph_edge.geom

  src/shader/laserscan.vert
  src/shader/laserscan.frag

  src/shader/draw_semanticmap.frag
  src/shader/draw_semantic_colormap.frag
)

QT5_WRAP_UI(UI_HDRS src/visualizer/visualizer.ui)

add_library(robovision
  src/rv/CompositeParameter.cpp
  src/rv/FileUtil.cpp
  src/rv/Laserscan.cpp
  src/rv/Math.cpp
  src/rv/Parameter.cpp
  src/rv/ParameterList.cpp
  src/rv/ParameterListIterator.cpp
  src/rv/PrimitiveParameters.cpp
  src/rv/Random.cpp
  src/rv/RangeParameter.cpp
  src/rv/string_utils.cpp
  src/rv/Stopwatch.cpp
  src/rv/transform.cpp
  src/rv/XmlDocument.cpp
  src/rv/XmlNode.cpp
  src/rv/yxml.c
)

add_library(suma
  src/core/SurfelMapping.cpp
  src/core/Preprocessing.cpp
  src/core/Frame2Model.cpp
  src/core/SurfelMap.cpp
  src/core/lie_algebra.cpp
  src/core/LieGaussNewton.cpp
  src/core/Posegraph.cpp
  src/core/ImagePyramidGenerator.cpp
  ${COMP_SHADER_SRC})

file(GLOB GLOW_SRC_FILES 
    "/home/gwz/catkin_rangenet/src/glow/src/glow/*.cpp"
    "/home/gwz/catkin_rangenet/src/glow/src/glow/util/*.cpp")

add_executable(visualizer

  src/io/KITTIReader.cpp
  src/io/SimulationReader.cpp
  src/io/RobocarReader.cpp

  # use rangenet
  src/io/RangenetAPI.cpp

  src/opengl/Mesh.cpp
  src/opengl/Model.cpp
  src/opengl/ObjReader.cpp

  src/util/kitti_utils.cpp
  src/util/ScanAccumulator.cpp

  ${UI_HDRS}
  ${VIZ_SHADER_SRC}
  ${GLOW_SRC_FILES}

  src/visualizer/GraphWidget.cpp
  src/visualizer/ViewportWidget.cpp
  src/visualizer/VisualizerWindow.cpp
  src/visualizer/visualizer.cpp

  )

target_link_libraries(robovision ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES} ${rangenet_lib_LIBRARIES} gtsam pthread)
target_link_libraries(suma ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES} ${rangenet_lib_LIBRARIES} gtsam pthread robovision)
target_link_libraries(visualizer suma ${X11_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES}  EGL gtsam  pthread robovision Qt5::OpenGL Qt5::Widgets ${OpenCV_LIBS})

Zhangjyhhh commented 8 months ago

thank you ,that's really helpful

jbehley commented 8 months ago

Short update on my efforts to make it cmake-buildable (similar to glow).

Unfortunately, the TensorRT 5+ interface changed significantly, therefore, I have to dig into the TensorRT 8.x code of rangenet_lib to make it possible to compile on Ubunutu 20.04 or Ubuntu 22.04. It will take a bit longer and I cannot promise something in the next few days.

Did the manual changes work for now?

Zhangjyhhh commented 8 months ago

Short update on my efforts to make it cmake-buildable (similar to glow).

Unfortunately, the TensorRT 5+ interface changed significantly, therefore, I have to dig into the TensorRT 8.x code of rangenet_lib to make it possible to compile on Ubunutu 20.04 or Ubuntu 22.04. It will take a bit longer and I cannot promise something in the next few days.

Did the manual changes work for now?

it works!!!

jbehley commented 7 months ago

As the manual changes resolves this particular problem, I will now close this issue.

I hopefully will look into getting rid of catkin with more modern tensor-rt in the future.

PRBonn / semantic_suma

对‘glow::glTranslate(float, float, float)’未定义的引用 #63