Visualizer not found

[laurenzheidrich]

Hey there!

I have been trying to set up SuMa on my workstation with VNC. The building runs without any problems, see here:

Command: cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=450 -DENABLE_NVIDIA_EXT=YES

Output:

cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=330 -DENABLE_NVIDIA_EXT=YES -- The C compiler identification is GNU 9.4.0 -- The CXX compiler identification is GNU 9.4.0 -- 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 -- [SuMa] Fetching glow. -- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- Found GLEW: /usr/include (found version "2.1.0") -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: filesystem system -- Found X11: /usr/include
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so -- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found -- Looking for gethostbyname -- Looking for gethostbyname - found -- Looking for connect -- Looking for connect - found -- Looking for remove -- Looking for remove - found -- Looking for shmat -- Looking for shmat - found -- Looking for IceConnectionNumber in ICE -- Looking for IceConnectionNumber in ICE - found -- Enabling Nvidia OpenGL extensions. -- Using OpenGL version 430. -- [SuMa] Fetching GTSAM v4.2.0. -- GTSAM Version: 4.2a9 -- 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")
-- Could NOT find TBB (missing: TBB_INCLUDE_DIRS TBB_LIBRARIES tbb tbbmalloc) (Required is at least version "4.4") -- 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 -- Wrote /mnt/scratch/SuMa/build/_deps/gtsam-build/GTSAMConfig.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 : 3.16.3 -- CMake generator : Unix Makefiles -- CMake build tool : /usr/bin/make -- Build flags
-- Build Tests : Disabled -- Build examples with 'make all' : Disabled -- Build timing scripts with 'make all' : Disabled -- Build shared GTSAM libraries : Enabled -- Put build type in library name : Enabled -- Build libgtsam_unstable : Disabled -- Build GTSAM unstable Python : Disabled -- 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_RELEASE : -- GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE : -- Use System Eigen : On (Using version: 3.3.7) -- Use System Metis : OFF -- Using Boost version : 1.71.0 -- Use Intel TBB : TBB not found -- Eigen will use MKL : MKL not found -- Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled -- Default allocator : STL -- 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 4.2 : 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 : Disabled -- =============================================================== CMake Warning at build/_deps/gtsam-src/cmake/HandleFinalChecks.cmake:3 (message): TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning. Call Stack (most recent call first): build/_deps/gtsam-src/CMakeLists.txt:143 (include)

-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: filesystem system timer date_time -- [SuMa] Enabling Nvidia OpenGL extensions. -- [SuMa] Using OpenGL version 430. -- [SuMa] Fetching GTest. -- Found Python: /usr/bin/python3.8 (found version "3.8.10") found components: Interpreter -- Found Threads: TRUE
-- Configuring done -- Generating done -- Build files have been written to: /mnt/scratch/SuMa/build

The problem is that the /mnt/scratch/SuMa/bin directory is empty, even though there is supposed to the Visualizer.

I would appreciate some help! Thanks!

[laurenzheidrich]

This is the folder structure after the build:

[jbehley]

I think you just did the cmake and this will only produce the Makefiles for building everything.

you need to do inside the build directory now make -j5 and this will then build the executable.

Edit: I noticed that I forgot to actually write it in my instructions. Thanks for pointing this out. I hope now it compiles the binaries.

[laurenzheidrich]

Well.. you are right and I should have paid more attention. Thanks, I will close this :)