failed to open the demo becuase of opengl compile error

Hi! I tested the first demo

python slam.py --config configs/mono/tum/fr3_office.yaml

And I got the error above and nothing displayed.

MonoGS: saving results in results/datasets_tum/2024-03-15-14-39-15
FEngine (64 bits) created at 0x3770bc90 (threading is enabled)
FEngine resolved backend: OpenGL
Process Process-4:
Traceback (most recent call last):
  File "/opt/miniconda3/envs/MonoGS/lib/python3.7/multiprocessing/process.py", line 297, in _bootstrap
    self.run()
  File "/opt/miniconda3/envs/MonoGS/lib/python3.7/multiprocessing/process.py", line 99, in run
    self._target(*self._args, **self._kwargs)
  File "/workspace/gui/slam_gui.py", line 687, in run
    win = SLAM_GUI(params_gui)
  File "/workspace/gui/slam_gui.py", line 66, in __init__
    self.g_renderer = OpenGLRenderer(self.g_camera.w, self.g_camera.h)
  File "/workspace/gui/gl_render/render_ogl.py", line 71, in __init__
    os.path.join(cur_path, "shaders/gau_frag.glsl"),
  File "/workspace/gui/gl_render/util.py", line 90, in load_shaders
    shaders.compileShader(vertex_shader, GL_VERTEX_SHADER),
  File "/opt/miniconda3/envs/MonoGS/lib/python3.7/site-packages/OpenGL/GL/shaders.py", line 241, in compileShader
    shaderType,
OpenGL.GL.shaders.ShaderCompilationError: ("Shader compile failure (0): b'0:1(10): error: GLSL 4.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES\\n'", [b'#version 430 core\n\n#define SH_C0 0.28209479177387814f\n#define SH_C1 0.4886025119029199f\n\n#define SH_C2_0 1.0925484305920792f\n#define SH_C2_1 -1.0925484305920792f\n#define SH_C2_2 0.31539156525252005f\n#define SH_C2_3 -1.0925484305920792f\n#define SH_C2_4 0.5462742152960396f\n\n#define SH_C3_0 -0.5900435899266435f\n#define SH_C3_1 2.890611442640554f\n#define SH_C3_2 -0.4570457994644658f\n#define SH_C3_3 0.3731763325901154f\n#define SH_C3_4 -0.4570457994644658f\n#define SH_C3_5 1.445305721320277f\n#define SH_C3_6 -0.5900435899266435f\n\nlayout(location = 0) in vec2 position;\n// layout(location = 1) in vec3 g_pos;\n// layout(location = 2) in vec4 g_rot;\n// layout(location = 3) in vec3 g_scale;\n// layout(location = 4) in vec3 g_dc_color;\n// layout(location = 5) in float g_opacity;\n\n\n#define POS_IDX 0\n#define ROT_IDX 3\n#define SCALE_IDX 7\n#define OPACITY_IDX 10\n#define SH_IDX 11\n\nlayout (std430, binding=0) buffer gaussian_data {\n\tfloat g_data[];\n\t// compact version of following data\n\t// vec3 g_pos[];\n\t// vec4 g_rot[];\n\t// vec3 g_scale[];\n\t// float g_opacity[];\n\t// vec3 g_sh[];\n};\nlayout (std430, binding=1) buffer gaussian_order {\n\tint gi[];\n};\n\nuniform mat4 view_matrix;\nuniform mat4 projection_matrix;\nuniform vec3 hfovxy_focal;\nuniform vec3 cam_pos;\nuniform int sh_dim;\nuniform float scale_modifier;\nuniform int render_mod;  // > 0 render 0-ith SH dim, -1 depth, -2 bill board, -3 gaussian\n\nout vec3 color;\nout float alpha;\nout vec3 conic;\nout vec2 coordxy;  // local coordinate in quad, unit in pixel\n\nmat3 computeCov3D(vec3 scale, vec4 q)  // should be correct\n{\n    mat3 S = mat3(0.f);\n    S[0][0] = scale.x;\n\tS[1][1] = scale.y;\n\tS[2][2] = scale.z;\n\tfloat r = q.x;\n\tfloat x = q.y;\n\tfloat y = q.z;\n\tfloat z = q.w;\n\n    mat3 R = mat3(\n\t\t1.f - 2.f * (y * y + z * z), 2.f * (x * y - r * z), 2.f * (x * z + r * y),\n\t\t2.f * (x * y + r * z), 1.f - 2.f * (x * x + z * z), 2.f * (y * z - r * x),\n\t\t2.f * (x * z - r * y), 2.f * (y * z + r * x), 1.f - 2.f * (x * x + y * y)\n\t);\n\n    mat3 M = S * R;\n    mat3 Sigma = transpose(M) * M;\n    return Sigma;\n}\n\nvec3 computeCov2D(vec4 mean_view, float focal_x, float focal_y, float tan_fovx, float tan_fovy, mat3 cov3D, mat4 viewmatrix)\n{\n    vec4 t = mean_view;\n    // why need this? Try remove this later\n    float limx = 1.3f * tan_fovx;\n    float limy = 1.3f * tan_fovy;\n    float txtz = t.x / t.z;\n    float tytz = t.y / t.z;\n    t.x = min(limx, max(-limx, txtz)) * t.z;\n    t.y = min(limy, max(-limy, tytz)) * t.z;\n\n    mat3 J = mat3(\n        focal_x / t.z, 0.0f, -(focal_x * t.x) / (t.z * t.z),\n\t\t0.0f, focal_y / t.z, -(focal_y * t.y) / (t.z * t.z),\n\t\t0, 0, 0\n    );\n    mat3 W = transpose(mat3(viewmatrix));\n    mat3 T = W * J;\n\n    mat3 cov = transpose(T) * transpose(cov3D) * T;\n    // Apply low-pass filter: every Gaussian should be at least\n\t// one pixel wide/high. Discard 3rd row and column.\n\tcov[0][0] += 0.3f;\n\tcov[1][1] += 0.3f;\n    return vec3(cov[0][0], cov[0][1], cov[1][1]);\n}\n\nvec3 get_vec3(int offset)\n{\n\treturn vec3(g_data[offset], g_data[offset + 1], g_data[offset + 2]);\n}\nvec4 get_vec4(int offset)\n{\n\treturn vec4(g_data[offset], g_data[offset + 1], g_data[offset + 2], g_data[offset + 3]);\n}\n\nvoid main()\n{\n\tint boxid = gi[gl_InstanceID];\n\tint total_dim = 3 + 4 + 3 + 1 + sh_dim;\n\tint start = boxid * total_dim;\n\tvec4 g_pos = vec4(get_vec3(start + POS_IDX), 1.f);\n    vec4 g_pos_view = view_matrix * g_pos;\n    vec4 g_pos_screen = projection_matrix * g_pos_view;\n\tg_pos_screen.xyz = g_pos_screen.xyz / g_pos_screen.w;\n    g_pos_screen.w = 1.f;\n\t// early culling\n\tif (any(greaterThan(abs(g_pos_screen.xyz), vec3(1.3))))\n\t{\n\t\tgl_Position = vec4(-100, -100, -100, 1);\n\t\treturn;\n\t}\n\tvec4 g_rot = get_vec4(start + ROT_IDX);\n\tvec3 g_scale = get_vec3(start + SCALE_IDX);\n\tfloat g_opacity = g_data[start + OPACITY_IDX];\n\n    mat3 cov3d = computeCov3D(g_scale * scale_modifier, g_rot);\n    vec2 wh = 2 * hfovxy_focal.xy * hfovxy_focal.z;\n    vec3 cov2d = computeCov2D(g_pos_view, \n                              hfovxy_focal.z, \n                              hfovxy_focal.z, \n                              hfovxy_focal.x, \n                              hfovxy_focal.y, \n                              cov3d, \n                              view_matrix);\n\n    // Invert covariance (EWA algorithm)\n\tfloat det = (cov2d.x * cov2d.z - cov2d.y * cov2d.y);\n\tif (det == 0.0f)\n\t\tgl_Position = vec4(0.f, 0.f, 0.f, 0.f);\n    \n    float det_inv = 1.f / det;\n\tconic = vec3(cov2d.z * det_inv, -cov2d.y * det_inv, cov2d.x * det_inv);\n    \n    vec2 quadwh_scr = vec2(3.f * sqrt(cov2d.x), 3.f * sqrt(cov2d.z));  // screen space half quad height and width\n    vec2 quadwh_ndc = quadwh_scr / wh * 2;  // in ndc space\n    g_pos_screen.xy = g_pos_screen.xy + position * quadwh_ndc;\n    coordxy = position * quadwh_scr;\n    gl_Position = g_pos_screen;\n    \n    alpha = g_opacity;\n\n\tif (render_mod == -1)\n\t{\n\t\tfloat depth = -g_pos_view.z;\n\t\tdepth = depth < 0.05 ? 1 : depth;\n\t\tdepth = 1 / depth;\n\t\tcolor = vec3(depth, depth, depth);\n\t\treturn;\n\t}\n\n\t// Covert SH to color\n\tint sh_start = start + SH_IDX;\n\tvec3 dir = g_pos.xyz - cam_pos;\n    dir = normalize(dir);\n\tcolor = SH_C0 * get_vec3(sh_start);\n\t\n\tif (sh_dim > 3 && render_mod >= 1)  // 1 * 3\n\t{\n\t\tfloat x = dir.x;\n\t\tfloat y = dir.y;\n\t\tfloat z = dir.z;\n\t\tcolor = color - SH_C1 * y * get_vec3(sh_start + 1 * 3) + SH_C1 * z * get_vec3(sh_start + 2 * 3) - SH_C1 * x * get_vec3(sh_start + 3 * 3);\n\n\t\tif (sh_dim > 12 && render_mod >= 2)  // (1 + 3) * 3\n\t\t{\n\t\t\tfloat xx = x * x, yy = y * y, zz = z * z;\n\t\t\tfloat xy = x * y, yz = y * z, xz = x * z;\n\t\t\tcolor = color +\n\t\t\t\tSH_C2_0 * xy * get_vec3(sh_start + 4 * 3) +\n\t\t\t\tSH_C2_1 * yz * get_vec3(sh_start + 5 * 3) +\n\t\t\t\tSH_C2_2 * (2.0f * zz - xx - yy) * get_vec3(sh_start + 6 * 3) +\n\t\t\t\tSH_C2_3 * xz * get_vec3(sh_start + 7 * 3) +\n\t\t\t\tSH_C2_4 * (xx - yy) * get_vec3(sh_start + 8 * 3);\n\n\t\t\tif (sh_dim > 27 && render_mod >= 3)  // (1 + 3 + 5) * 3\n\t\t\t{\n\t\t\t\tcolor = color +\n\t\t\t\t\tSH_C3_0 * y * (3.0f * xx - yy) * get_vec3(sh_start + 9 * 3) +\n\t\t\t\t\tSH_C3_1 * xy * z * get_vec3(sh_start + 10 * 3) +\n\t\t\t\t\tSH_C3_2 * y * (4.0f * zz - xx - yy) * get_vec3(sh_start + 11 * 3) +\n\t\t\t\t\tSH_C3_3 * z * (2.0f * zz - 3.0f * xx - 3.0f * yy) * get_vec3(sh_start + 12 * 3) +\n\t\t\t\t\tSH_C3_4 * x * (4.0f * zz - xx - yy) * get_vec3(sh_start + 13 * 3) +\n\t\t\t\t\tSH_C3_5 * z * (xx - yy) * get_vec3(sh_start + 14 * 3) +\n\t\t\t\t\tSH_C3_6 * x * (xx - 3.0f * yy) * get_vec3(sh_start + 15 * 3);\n\t\t\t}\n\t\t}\n\t}\n\tcolor += 0.5f;\n}\n'], GL_VERTEX_SHADER)

Thanks

muskie82 / MonoGS

failed to open the demo becuase of opengl compile error #23