search

UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
6.48k stars 2.54k forks source link

install on jetson nx #400

Open 43998213 opened 3 years ago

43998213 commented 3 years ago

g2o error cmake .. make -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 7.5.0 -- 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 -- Compiling on Unix -- Found Cholmod: /usr/include/suitesparse -- A cache variable, namely BLAS_DIR, has been set to specify the install directory of BLAS -- Looking for BLAS -- mkl.h not found -- 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 pthreadcreate in pthread - found -- Found Threads: TRUE -- Looking for MKL BLAS: not found -- Looking for Goto BLAS: not found -- Looking for Open BLAS: not found -- Looking for Eigen BLAS: not found -- Looking for Eigen BLAS: not found -- Looking for Atlas BLAS: not found -- Looking for PhiPACK BLAS: not found -- Looking for CXML BLAS: not found -- Looking for DXML BLAS: not found -- Looking for SunPerf BLAS: not found -- Looking for SCSL BLAS: not found -- Looking for SGIMATH BLAS: not found -- Looking for IBM ESSL BLAS: not found -- Looking for IBM ESSL MT BLAS: not found -- Looking for ACML BLAS: not found -- Looking for ACML BLAS: not found -- Looking for ACML BLAS: not found -- Looking for Apple BLAS: not found -- Looking for NAS BLAS: not found -- Looking for sgemm -- Looking for sgemm_ - found -- Looking for Generic BLAS: found -- A library with BLAS API found. -- BLAS_LIBRARIES /usr/lib/aarch64-linux-gnu/libblas.so -- Looking for BLAS -- mkl.h not found -- Looking for MKL BLAS: not found -- Looking for Goto BLAS: not found -- Looking for Open BLAS: not found -- Looking for Eigen BLAS: not found -- Looking for Eigen BLAS: not found -- Looking for Atlas BLAS: not found -- Looking for PhiPACK BLAS: not found -- Looking for CXML BLAS: not found -- Looking for DXML BLAS: not found -- Looking for SunPerf BLAS: not found -- Looking for SCSL BLAS: not found -- Looking for SGIMATH BLAS: not found -- Looking for IBM ESSL BLAS: not found -- Looking for IBM ESSL MT BLAS: not found -- Looking for ACML BLAS: not found -- Looking for ACML BLAS: not found -- Looking for ACML BLAS: not found -- Looking for Apple BLAS: not found -- Looking for NAS BLAS: not found -- Looking for Generic BLAS: found -- A library with BLAS API found. -- BLASLIBRARIES /usr/lib/aarch64-linux-gnu/libblas.so -- Looking for cheev -- Looking for cheev_ - found -- A library with LAPACK API found. -- Enable support for Cholmod -- Found CSparse: /usr/include/suitesparse -- Enable support for CSparse -- Found OpenGL: /usr/lib/aarch64-linux-gnu/libOpenGL.so -- Compiling with OpenGL support -- Found QGLViewer: /usr/include/QGLViewer -- Compiling g2o apps -- Compiling g2o examples -- Compiling with GCC -- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "3.3") -- Generating position indpendent code for slam2d because Qt5 was built with -reduce-relocations -- Configuring done -- Generating done -- Build files have been written to: /home/zjh/planner_ws01/src/g2o-20201223_git/build root@zjh-desktop:/home/zjh/planner_ws01/src/g2o-20201223_git/build# make Scanning dependencies of target freeglut_minimal [ 0%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o [ 1%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_mono_roman.cpp.o [ 1%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_stroke_roman.cpp.o [ 1%] Linking CXX shared library ../../../lib/libg2o_ext_freeglut_minimal.so [ 1%] Built target freeglut_minimal Scanning dependencies of target opengl_helper [ 1%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o [ 1%] Linking CXX shared library ../../../lib/libg2o_opengl_helper.so [ 1%] Built target opengl_helper Scanning dependencies of target stuff [ 1%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o [ 2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o [ 2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o [ 2%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o [ 3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o [ 3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/string_tools.cpp.o [ 4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/property.cpp.o [ 4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o [ 4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/tictoc.cpp.o [ 5%] Linking CXX shared library ../../../lib/libg2o_stuff.so [ 5%] Built target stuff Scanning dependencies of target core [ 6%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph_action.cpp.o [ 6%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph.cpp.o [ 6%] Building CXX object g2o/core/CMakeFiles/core.dir/marginal_covariance_cholesky.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/matrix_structure.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/batch_stats.cpp.o [ 7%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter.cpp.o [ 8%] Building CXX object g2o/core/CMakeFiles/core.dir/cache.cpp.o [ 8%] Building CXX object g2o/core/CMakeFiles/core.dir/optimizable_graph.cpp.o [ 8%] Building CXX object g2o/core/CMakeFiles/core.dir/solver.cpp.o [ 9%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_factory.cpp.o [ 9%] Building CXX object g2o/core/CMakeFiles/core.dir/estimate_propagator.cpp.o [ 9%] Building CXX object g2o/core/CMakeFiles/core.dir/factory.cpp.o [ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer.cpp.o [ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_dijkstra.cpp.o [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/parameter_container.cpp.o [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm.cpp.o [ 11%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_with_hessian.cpp.o [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_gauss_newton.cpp.o [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_levenberg.cpp.o [ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_dogleg.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer_terminate_action.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/jacobian_workspace.cpp.o [ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel.cpp.o [ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel_impl.cpp.o [ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/robust_kernel_factory.cpp.o [ 14%] Linking CXX shared library ../../../lib/libg2o_core.so [ 14%] Built target core Scanning dependencies of target g2o_cli_library [ 14%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o [ 14%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/output_helper.cpp.o [ 15%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/g2o_common.cpp.o [ 15%] Linking CXX shared library ../../../../lib/libg2o_cli.so [ 15%] Built target g2o_cli_library Scanning dependencies of target g2o_cli_application [ 15%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_application.dir/g2o.cpp.o [ 16%] Linking CXX executable ../../../../bin/g2o [ 16%] Built target g2o_cli_application Scanning dependencies of target types_slam3d [ 16%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/dquat2mat.cpp.o [ 16%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_mappings.cpp.o [ 17%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/isometry3d_gradients.cpp.o [ 17%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o [ 17%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o [ 18%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o [ 18%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o [ 18%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o [ 19%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o [ 19%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o [ 19%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o [ 20%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o [ 20%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o [ 21%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o [ 21%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_xyzprior.cpp.o [ 21%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o [ 22%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_xyz_prior.cpp.o [ 22%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o [ 22%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o [ 23%] Linking CXX shared library ../../../../lib/libg2o_types_slam3d.so [ 23%] Built target types_slam3d Scanning dependencies of target g2o_hierarchical_library [ 23%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_labeler.cpp.o [ 24%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_creator.cpp.o [ 24%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/star.cpp.o [ 24%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_types_cost_function.cpp.o [ 25%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/backbone_tree_action.cpp.o [ 25%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/simple_star_ops.cpp.o [ 25%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/g2o_hierarchical_test_functions.cpp.o [ 26%] Linking CXX shared library ../../../../lib/libg2o_hierarchical.so [ 26%] Built target g2o_hierarchical_library Scanning dependencies of target g2o_hierarchical_application [ 27%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_application.dir/g2o_hierarchical.cpp.o [ 27%] Linking CXX executable ../../../../bin/g2o_hierarchical [ 27%] Built target g2o_hierarchical_application Scanning dependencies of target types_slam3d_addons [ 27%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_se3_euler.cpp.o [ 27%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_euler.cpp.o [ 28%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_plane.cpp.o [ 28%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_plane_calib.cpp.o [ 28%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/line3d.cpp.o [ 29%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/vertex_line3d.cpp.o [ 29%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_line.cpp.o [ 29%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_plane.cpp.o [ 30%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/edge_se3_calib.cpp.o [ 30%] Building CXX object g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o c++: internal compiler error: 段错误 (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See file:///usr/share/doc/gcc-7/README.Bugs for instructions. g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/build.make:278: recipe for target 'g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o' failed make[2]: [g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/types_slam3d_addons.cpp.o] Error 4 CMakeFiles/Makefile2:1417: recipe for target 'g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/all' failed make[1]: [g2o/types/slam3d_addons/CMakeFiles/types_slam3d_addons.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2

I tried sudo dd if=/dev/zero of=/swapfile bs=64M count=32 sudo mkswap /swapfile chmod 0600 /swapfile sudo swapon /swapfile I tried gcc7. gcc6. gcc5 but all failed help please

Bangyan-Zhang commented 2 years ago

I have similar questions. I am installing orbslam3 on turtlebot3. But I always meet a problem "C++: internal compiler error: segmentation fault (program cc1plus)" , after my many sevaral attempts ,I realize that turtlebot's configuration is so low that no enough computation power to compile orbslam3' source code.

Chenliezhen259 commented 2 years ago

i also have similar questions. But i am installing orbslam3 on jetson nx, that is enough to compile source code. why i always meet a problem：segmentation fault (code dumped).

greymaner commented 2 years ago

I also meet the same problem,and then I modified the build.sh ->make -j to make -j2,solved!