Problem compiling ORB-SLAM2 with cuba

[OniasC]

Hello,

I am trying to run orb-slam with cuba (and possibly later add the LocalBundleAdjustmentCuba) by following the wiki (https://github.com/fixstars/cuda-bundle-adjustment/wiki/Use-cuda-bundle-adjustment-in-ORB-SLAM2). Aside from the steps mentioned I also had to comment the line if(pbStopFlag) optimizer.setForceStopFlag(pbStopFlag) as the new optimizer doesn't have that parameter.

I compiled the cuba repo in the thirdparty folder as mentioned on the wiki and when I build orb-slam from their buid script it doesn't flag any errors when compiling Optimizer.cc. But when it is in building past vier.cc.o it accuses an error

[ 60%] Linking CXX shared library ../lib/libORB_SLAM2_CUDA.so
/usr/bin/ld: cannot find -lcuda_bundle_adjustment
collect2: error: ld returned 1 exit status
CMakeFiles/ORB_SLAM2_CUDA.dir/build.make:693: recipe for target '../lib/libORB_SLAM2_CUDA.so' failed

If it helps, in my cmakelist this is the order of added libraries (I am trying to build this solution together with another one that runs orb in cuda):

cuda_add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/cuda/Allocator_gpu.cu
src/cuda/Fast_gpu.cu
src/cuda/Orb_gpu.cu
src/cuda/Cuda.cu
)

Could some one point me in the right direction? Thanks in advance!

[OniasC]

An update:

By adding link_directories(${PROJECT_SOURCE_DIR}/Thirdparty/cuda-bundle-adjustment/lib) above cuda_add_library(...) I receive several compilation problems regarding conversion between libraries. They can be summarized in two big groups of errors:

relocation R_AARCH64_ADR_PREL_PG_HI21 against symbol `_ZN6thrust8cuda_cub3cub11EmptyKernelIvEEvv' which may bind externally can not be used when making a shared object; recompile with -fPIC

I tried to fix that by adding target_compile_definitions(mono_euroc PRIVATE -fPIC) after each cuda_add_executable(..) but with no success.

The second type of error is

/home/xxxx/ORB_SLAM2_CUDA/Thirdparty/cuda-bundle-adjustment/lib/libcuda_bundle_adjustment.a(cuda_bundle_adjustment_generated_cuda_block_solver.cu.o): In function `void thrust::cuda_cub::parallel_for<thrust::cuda_cub::tag, thrust::cuda_cub::__transform::unary_transform_f<thrust::permutation_iterator<thrust::device_ptr<float const>, thrust::device_ptr<int const> >, thrust::device_ptr<float>, thrust::cuda_cub::__transform::no_stencil_tag, thrust::cuda_cub::identity, thrust::cuda_cub::__transform::always_true_predicate>, long>(thrust::cuda_cub::execution_policy<thrust::cuda_cub::tag>&, thrust::cuda_cub::__transform::unary_transform_f<thrust::permutation_iterator<thrust::device_ptr<float const>, thrust::device_ptr<int const> >, thrust::device_ptr<float>, thrust::cuda_cub::__transform::no_stencil_tag, thrust::cuda_cub::identity, thrust::cuda_cub::__transform::always_true_predicate>, long)':
/usr/local/cuda/include/thrust/system/cuda/detail/util.h:213:(.text._ZN6thrust8cuda_cub12parallel_forINS0_3tagENS0_11__transform17unary_transform_fINS_20permutation_iteratorINS_10device_ptrIKfEENS6_IKiEEEENS6_IfEENS3_14no_stencil_tagENS0_8identityENS3_21always_true_predicateEEElEEvRNS0_16execution_policyIT_EET0_T1_[_ZN6thrust8cuda_cub12parallel_forINS0_3tagENS0_11__transform17unary_transform_fINS_20permutation_iteratorINS_10device_ptrIKfEENS6_IKiEEEENS6_IfEENS3_14no_stencil_tagENS0_8identityENS3_21always_true_predicateEEElEEvRNS0_16execution_policyIT_EET0_T1_]+0x1b4): dangerous relocation: unsupported relocation

Don't know if it helps, but I'm trying to build this project in the jetson nano

[atakagi-fixstars]

Hi, @OniasC

I'm sorry to have troubled you. It seems ORB_SLAM2 needs to link with shared libraries.

Try to fix CMakeLists.txt as follows, and build and install.

-cuda_add_library(cuda_bundle_adjustment ${srcs})
+cuda_add_library(cuda_bundle_adjustment SHARED ${srcs})

Regards,

[OniasC]

Hi, @atakagi-fixstars

Thank you for answering, and your suggestion did eliminate that error, thank you very much for that! But that didnt eliminate all the errors, unfortunately. When, building I get this error:

Built target cuda_bundle_adjustment
[ 60%] Built target ORB_SLAM2_CUDA
[ 63%] Linking CXX executable mono_euroc_savemap
../lib/libORB_SLAM2_CUDA.so: undefined reference to `cuba::CudaBundleAdjustment::create()'
collect2: error: ld returned 1 exit status

My cmakelists is as follows:

[...]
cuda_include_directories(
  ${CUDA_TOOLKIT_ROOT_DIR}/samples/common/inc
)

link_directories(${PROJECT_SOURCE_DIR}/Thirdparty/cuda-bundle-adjustment/lib)

cuda_add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/cuda/Allocator_gpu.cu
src/cuda/Fast_gpu.cu
src/cuda/Orb_gpu.cu
src/cuda/Cuda.cu
)

cuda_add_library(cuda_bundle_adjustment SHARED ${srcs})

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
cuda_bundle_adjustment
${CUDA_cusparse_LIBRARY}
${CUDA_cusolver_LIBRARY}
nvToolsExt
)
[...]

edit: tried deleting the whole build folder and starting over but had the same behavior.

[atakagi-fixstars]

Hi, @OniasC

You need to edit cuda-bundle-adjustment/src/CMakeLists.txt, not ORB_SLAM2/CMakeLists.txt. Add SHARED to this line https://github.com/fixstars/cuda-bundle-adjustment/blob/master/src/CMakeLists.txt#L38

Then, build and install.

$ cd cuda-bundle-adjustment
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_INSTALL_PREFIX={YOUR_ORB_SLAM2_DIR}/Thirdparty/cuda-bundle-adjustment

$ make -j 4
$ make install

Regards,

[OniasC]

Hi @atakagi-fixstars

It worked! Thank you for the support! I'll mark this issue as closed.

Regards,