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ToniRV / NeRF-SLAM

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276
BSD 2-Clause "Simplified" License
1.14k stars 139 forks source link

Not able to build gtsam - make: *** [Makefile:166: all] Error 2 #41

Open 0x434D opened 1 year ago

0x434D commented 1 year ago

Hey guys,

I keep trying to build gtsam like described in the repo but can't get it to work.

I'm very new to anything c/c++ and cmake related so any help would be highly appreciated !!

OS: Ubuntu 20.04

command --> cmake ./thirdparty/gtsam -DGTSAM_BUILD_PYTHON=1 -B build_gtsam

-- The CXX compiler identification is GNU 9.4.0
-- The C compiler identification is GNU 9.4.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- GTSAM Version: 4.2a8
-- Performing Test COMPILER_HAS_WSUGGEST_OVERRIDE
-- Performing Test COMPILER_HAS_WSUGGEST_OVERRIDE - Success
-- Performing Test COMPILER_HAS_WMISSING_OVERRIDE
-- Performing Test COMPILER_HAS_WMISSING_OVERRIDE - Failed
-- GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex 
-- Found Eigen version: 3.3.7
-- Looking for execinfo.h
-- Looking for execinfo.h - found
-- Looking for getline
-- Looking for getline - found
-- checking for thread-local storage - found
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found Python3: /home/chris/Programs/miniconda3/envs/nerf-slam/bin/python3.8 (found version "3.8.16") found components: Interpreter Development Development.Module Development.Embed 
-- Found TBB: /usr/include (found suitable version "2020.1", minimum required is "4.4") found components: tbb tbbmalloc 
-- Building 3rdparty
-- Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) 
-- Building base
-- Building basis
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building hybrid
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building navigation
-- GTSAM Version: 4.2.0
-- Install prefix: /usr/local
-- Building GTSAM - shared: ON
-- Building base_unstable
-- Building geometry_unstable
-- Building linear_unstable
-- Building discrete_unstable
-- Building dynamics_unstable
-- Building nonlinear_unstable
-- Building slam_unstable
-- Building partition_unstable
-- GTSAM_UNSTABLE Version: 4.2.0
-- Install prefix: /usr/local
-- Found Python: /home/chris/Programs/miniconda3/envs/nerf-slam/bin/python3.8 (found suitable exact version "3.8.16") found components: Interpreter Development Development.Module Development.Embed 
-- gtwrap Package config : /usr/local/lib/cmake/gtwrap
-- gtwrap version        : 1.0
-- gtwrap CMake path     : /usr/local/lib/cmake/gtwrap
-- gtwrap library path   : /usr/local/lib/gtwrap
-- gtwrap binary path    : /usr/local/bin/gtwrap
-- gtwrap header path    : /usr/local/include/gtwrap
-- Checking Python Version
-- Setting Python version for wrapper
-- pybind11 v2.10.0 
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- Wrote /home/chris/repos/NeRF-SLAM/build_gtsam/GTSAMConfig.cmake
-- Wrote /home/chris/repos/NeRF-SLAM/build_gtsam/GTSAM_UNSTABLEConfig.cmake
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- ===============================================================
-- ================  Configuration Options  ======================
--  CMAKE_CXX_COMPILER_ID type                       : GNU
--  CMAKE_CXX_COMPILER_VERSION                       : 9.4.0
--  CMake version                                    : 3.25.2
--  CMake generator                                  : Unix Makefiles
--  CMake build tool                                 : /usr/bin/make
-- Build flags                                               
--  Build Tests                                      : Enabled
--  Build examples with 'make all'                   : Enabled
--  Build timing scripts with 'make all'             : Disabled
--  Build shared GTSAM libraries                     : Enabled
--  Put build type in library name                   : Enabled
--  Build libgtsam_unstable                          : Enabled
--  Build GTSAM unstable Python                      : Enabled
--  Build MATLAB Toolbox for unstable                : Disabled
--  Build for native architecture                    : Disabled
--  Build type                                       : Release
--  C compilation flags                              :  -O3 -DNDEBUG
--  C++ compilation flags                            :  -O3 -DNDEBUG
--  GTSAM_COMPILE_FEATURES_PUBLIC                    : cxx_std_11
--  GTSAM_COMPILE_OPTIONS_PUBLIC                     : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC                 : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_DEBUG               : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_DEBUG           : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_RELEASE             : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE         : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_TIMING              : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_TIMING          : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_PROFILING           : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_PROFILING       : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_RELWITHDEBINFO      : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELWITHDEBINFO  : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_MINSIZEREL          : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_MINSIZEREL      : 
--  Use System Eigen                                 : OFF (Using version: 3.3.7)
--  Use System Metis                                 : OFF
--  Using Boost version                              : 1.71.0
--  Use Intel TBB                                    : Yes (Version: 2020.1)
--  Eigen will use MKL                               : MKL not found
--  Eigen will use MKL and OpenMP                    : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
--  Default allocator                                : TBB
--  Cheirality exceptions enabled                    : YES
--  Build with ccache                                : No
-- Packaging flags
--  CPack Source Generator                           : TGZ
--  CPack Generator                                  : TGZ
-- GTSAM flags                                               
--  Quaternions as default Rot3                      : Disabled
--  Runtime consistency checking                     : Disabled
--  Rot3 retract is full ExpMap                      : Enabled
--  Pose3 retract is full ExpMap                     : Enabled
--  Allow features deprecated in GTSAM 4.1           : Enabled
--  Metis-based Nested Dissection                    : Enabled
--  Use tangent-space preintegration                 : Enabled
-- MATLAB toolbox flags
--  Install MATLAB toolbox                           : Disabled
-- Python toolbox flags                                      
--  Build Python module with pybind                  : Enabled
--  Python version                                   : 3.8.16
-- ===============================================================
-- Configuring done
-- Generating done
-- Build files have been written to: /home/chris/repos/NeRF-SLAM/build_gtsam

command --> cmake --build build_gtsam --config RelWithDebInfo -j

...
[ 58%] Linking CXX shared library libgtsam.so
[ 58%] Built target gtsam
make: *** [Makefile:166: all] Error 2

Following is the CMakeError.log :

Performing C++ SOURCE FILE Test COMPILER_HAS_WMISSING_OVERRIDE failed with the following output:
Change Dir: /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-mSsxK8

Run Build Command(s):/usr/bin/make -f Makefile cmTC_e00fa/fast && /usr/bin/make  -f CMakeFiles/cmTC_e00fa.dir/build.make CMakeFiles/cmTC_e00fa.dir/build
make[1]: Entering directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-mSsxK8'
Building CXX object CMakeFiles/cmTC_e00fa.dir/src.cxx.o
/usr/bin/c++ -DCOMPILER_HAS_WMISSING_OVERRIDE  -Wmissing -o CMakeFiles/cmTC_e00fa.dir/src.cxx.o -c /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-mSsxK8/src.cxx
c++: error: unrecognized command line option '-Wmissing'; did you mean '-Waliasing'?
make[1]: *** [CMakeFiles/cmTC_e00fa.dir/build.make:78: CMakeFiles/cmTC_e00fa.dir/src.cxx.o] Error 1
make[1]: Leaving directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-mSsxK8'
make: *** [Makefile:127: cmTC_e00fa/fast] Error 2

Source file was:
int main() { return 0; }

Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output:
Change Dir: /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-QS7hy9

Run Build Command(s):/usr/bin/make -f Makefile cmTC_22939/fast && /usr/bin/make  -f CMakeFiles/cmTC_22939.dir/build.make CMakeFiles/cmTC_22939.dir/build
make[1]: Entering directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-QS7hy9'
Building C object CMakeFiles/cmTC_22939.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD   -o CMakeFiles/cmTC_22939.dir/src.c.o -c /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-QS7hy9/src.c
Linking C executable cmTC_22939
/opt/cmake-3.25.2-linux-x86_64/bin/cmake -E cmake_link_script CMakeFiles/cmTC_22939.dir/link.txt --verbose=1
/usr/bin/cc -rdynamic CMakeFiles/cmTC_22939.dir/src.c.o -o cmTC_22939 
/usr/bin/ld: CMakeFiles/cmTC_22939.dir/src.c.o: in function `main':
src.c:(.text+0x46): undefined reference to `pthread_create'
/usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach'
/usr/bin/ld: src.c:(.text+0x5e): undefined reference to `pthread_cancel'
/usr/bin/ld: src.c:(.text+0x6f): undefined reference to `pthread_join'
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_22939.dir/build.make:99: cmTC_22939] Error 1
make[1]: Leaving directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-QS7hy9'
make: *** [Makefile:127: cmTC_22939/fast] Error 2

Source file was:
#include <pthread.h>

static void* test_func(void* data)
{
  return data;
}

int main(void)
{
  pthread_t thread;
  pthread_create(&thread, NULL, test_func, NULL);
  pthread_detach(thread);
  pthread_cancel(thread);
  pthread_join(thread, NULL);
  pthread_atfork(NULL, NULL, NULL);
  pthread_exit(NULL);

  return 0;
}

Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-onaQU5

Run Build Command(s):/usr/bin/make -f Makefile cmTC_df07c/fast && /usr/bin/make  -f CMakeFiles/cmTC_df07c.dir/build.make CMakeFiles/cmTC_df07c.dir/build
make[1]: Entering directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-onaQU5'
Building C object CMakeFiles/cmTC_df07c.dir/CheckFunctionExists.c.o
/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_df07c.dir/CheckFunctionExists.c.o -c /home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-onaQU5/CheckFunctionExists.c
Linking C executable cmTC_df07c
/opt/cmake-3.25.2-linux-x86_64/bin/cmake -E cmake_link_script CMakeFiles/cmTC_df07c.dir/link.txt --verbose=1
/usr/bin/cc  -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_df07c.dir/CheckFunctionExists.c.o -o cmTC_df07c  -lpthreads 
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_df07c.dir/build.make:99: cmTC_df07c] Error 1
make[1]: Leaving directory '/home/chris/repos/NeRF-SLAM/build_gtsam/CMakeFiles/CMakeScratch/TryCompile-onaQU5'
make: *** [Makefile:127: cmTC_df07c/fast] Error 2
0x434D commented 1 year ago

Maybe to add to it:

I tried deleting the build_gtsam folder completely and redoing the steps to get it

This results in cmake failing at random percentages - e.g. sometimes it crashes at 17%, 97% or like the one I posted at 58%

Eunjooo commented 1 year ago

I'm having the same problem, has this been resolved?

1005452649 commented 1 year ago

I'm having the same problem, has this been resolved?

Victorrr1 commented 1 year ago

maybe delete the whole gtsam folder and download from this, then build the project like readme.txt. It is work for me and hope to help you.