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nvidia-isaac / nvblox

A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.
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707 stars 77 forks source link

how to use with stereolabs zed camera ? #6

Closed AndreV84 closed 2 years ago

AndreV84 commented 2 years ago

getting segfault cpp error on test example also how to run the app with usb zed camera?

AndreV84 commented 2 years ago 
~/dev/nvblox/nvblox/build$ cmake .. && make && cd tests && ctest
-- The CXX compiler identification is GNU 8.4.0
-- The CUDA compiler identification is NVIDIA 10.2.300
-- 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 CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Check for working CUDA compiler: /usr/local/cuda-10.2/bin/nvcc - skipped
-- Detecting CUDA compile features
-- Detecting CUDA compile features - done
-- Downloading 3rdparty dependencies
-- Downloading Eigen
-- Downloading STDGPU
-- Found thrust: /usr/local/cuda/include (found suitable version "1.9.7", minimum required is "1.9.2") 
-- Found CUDAToolkit: /usr/local/cuda-10.2/include (found suitable version "10.2.300", minimum required is "10.0") 
-- Looking for C++ include pthread.h
-- Looking for C++ include pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) (Required is at least version "1.9.1")
-- 
-- ************************ stdgpu Configuration Summary *************************
-- 
-- General:
--   Version                                   :   1.3.0
--   System                                    :   Linux
--   Build type                                :   RelWithDebInfo
-- 
-- Build:
--   STDGPU_BACKEND                            :   STDGPU_BACKEND_CUDA
--   STDGPU_BUILD_SHARED_LIBS                  :   ON
--   STDGPU_SETUP_COMPILER_FLAGS               :   OFF
--   STDGPU_TREAT_WARNINGS_AS_ERRORS           :   OFF
--   STDGPU_ANALYZE_WITH_CLANG_TIDY            :   OFF
--   STDGPU_ANALYZE_WITH_CPPCHECK              :   OFF
-- 
-- Configuration:
--   STDGPU_ENABLE_CONTRACT_CHECKS             :   OFF
--   STDGPU_USE_32_BIT_INDEX                   :   ON
-- 
-- Examples:
--   STDGPU_BUILD_EXAMPLES                     :   OFF
-- 
-- Tests:
--   STDGPU_BUILD_TESTS                        :   OFF
--   STDGPU_BUILD_TEST_COVERAGE                :   OFF
-- 
-- Documentation:
--   Doxygen                                   :   NO
-- 
-- *******************************************************************************
-- 
-- Detecting CCs of GPUs : /home/nvidia/dev/nvblox/nvblox/build/_deps/ext_stdgpu-src/cmake/cuda/compute_capability.cpp
-- Detecting CCs of GPUs : /home/nvidia/dev/nvblox/nvblox/build/_deps/ext_stdgpu-src/cmake/cuda/compute_capability.cpp - Success (found CCs : 72)
-- Enabled compilation for CC 72
-- Found CUDA: /usr/local/cuda-10.2 (found version "10.2") 
-- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Found Glog: /usr/include  
-- Found GTest: /usr/local/lib/libgtest.a  
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/camera-intrinsics.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.depth.png
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/dev/nvblox/nvblox/build
[  1%] Creating directories for 'ext_eigen'
[  1%] Performing download step (download, verify and extract) for 'ext_eigen'
-- Downloading...
   dst='/home/nvidia/dev/nvblox/nvblox/build/eigen/src/eigen-3.4.0.tar.gz'
   timeout='none'
   inactivity timeout='none'
-- Using src='https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz'
-- verifying file...
       file='/home/nvidia/dev/nvblox/nvblox/build/eigen/src/eigen-3.4.0.tar.gz'
-- Downloading... done
-- extracting...
     src='/home/nvidia/dev/nvblox/nvblox/build/eigen/src/eigen-3.4.0.tar.gz'
     dst='/home/nvidia/dev/nvblox/nvblox/build/eigen/src/ext_eigen'
-- extracting... [tar xfz]
-- extracting... [analysis]
-- extracting... [rename]
-- extracting... [clean up]
-- extracting... done
[  2%] No update step for 'ext_eigen'
[  2%] No patch step for 'ext_eigen'
[  3%] Performing configure step for 'ext_eigen'
'not installing eigen'
[  4%] No build step for 'ext_eigen'
[  5%] Performing install step for 'ext_eigen'
'not installing eigen'
[  5%] Completed 'ext_eigen'
[  5%] Built target ext_eigen
[  5%] Building CUDA object CMakeFiles/nvblox_cuda_check.dir/src/core/cuda/error_check.cu.o
[  6%] Linking CUDA shared library libnvblox_cuda_check.so
[  6%] Built target nvblox_cuda_check
[  6%] Building CXX object _deps/ext_stdgpu-build/src/stdgpu/CMakeFiles/stdgpu.dir/impl/iterator.cpp.o
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[  8%] Building CXX object _deps/ext_stdgpu-build/src/stdgpu/CMakeFiles/stdgpu.dir/impl/limits.cpp.o
[  9%] Building CXX object _deps/ext_stdgpu-build/src/stdgpu/CMakeFiles/stdgpu.dir/cuda/impl/memory.cpp.o
[  9%] Linking CXX shared library libstdgpu.so
[  9%] Built target stdgpu
[ 10%] Building CUDA object CMakeFiles/nvblox_gpu_hash.dir/src/gpu_hash/cuda/gpu_layer_view.cu.o
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[ 13%] Built target nvblox_gpu_hash
[ 13%] Building CXX object CMakeFiles/nvblox_lib.dir/src/core/bounding_boxes.cpp.o
[ 14%] Building CXX object CMakeFiles/nvblox_lib.dir/src/core/camera.cpp.o
[ 15%] Building CXX object CMakeFiles/nvblox_lib.dir/src/core/color.cpp.o
[ 16%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/core/cuda/blox.cu.o
[ 16%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/core/cuda/image_cuda.cu.o
^[[5~^[[5~[ 17%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/core/cuda/warmup.cu.o
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[ 20%] Building CXX object CMakeFiles/nvblox_lib.dir/src/datasets/parse_3dmatch.cpp.o
[ 21%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/integrators/cuda/frustum.cu.o
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/home/nvidia/dev/nvblox/nvblox/src/mesh/marching_cubes.cu(100): warning #3056-D: a __constant__ variable "nvblox::marching_cubes::kNumTrianglesTable" cannot be directly read in a host function

[ 29%] Building CUDA object CMakeFiles/nvblox_lib.dir/src/mesh/mesh_block.cu.o
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[ 34%] Building CXX object CMakeFiles/nvblox_lib.dir/src/utils/nvtx_ranges.cpp.o
[ 35%] Building CXX object CMakeFiles/nvblox_lib.dir/src/utils/timing.cpp.o
[ 36%] Linking CUDA device code CMakeFiles/nvblox_lib.dir/cmake_device_link.o
[ 36%] Linking CXX shared library libnvblox_lib.so
[ 36%] Built target nvblox_lib
[ 37%] Building CXX object CMakeFiles/sphere_benchmark.dir/src/benchmarks/sphere_benchmark.cpp.o
[ 38%] Linking CXX executable sphere_benchmark
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[ 39%] Building CXX object tests/CMakeFiles/nvblox_test_utils.dir/lib/utils.cpp.o
[ 40%] Building CXX object tests/CMakeFiles/nvblox_test_utils.dir/lib/projective_tsdf_integrator_cpu.cpp.o
[ 40%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/increment_kernel.cu.o
[ 41%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/gpu_image_routines.cu.o
[ 42%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/interpolation_2d_gpu.cu.o
[ 43%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/projective_tsdf_integrator_cuda_components.cu.o
/home/nvidia/dev/nvblox/nvblox/tests/lib/cuda/projective_tsdf_integrator_cuda_components.cu(32): warning #3019-D: dynamic initialization is not supported for a function-scope static __shared__ variable within a __device__/__global__ function

/home/nvidia/dev/nvblox/nvblox/tests/lib/cuda/projective_tsdf_integrator_cuda_components.cu(36): warning #3019-D: dynamic initialization is not supported for a function-scope static __shared__ variable within a __device__/__global__ function

/home/nvidia/dev/nvblox/nvblox/tests/lib/cuda/projective_tsdf_integrator_cuda_components.cu(63): warning #3019-D: dynamic initialization is not supported for a function-scope static __shared__ variable within a __device__/__global__ function

/home/nvidia/dev/nvblox/nvblox/tests/lib/cuda/projective_tsdf_integrator_cuda_components.cu(68): warning #3019-D: dynamic initialization is not supported for a function-scope static __shared__ variable within a __device__/__global__ function

[ 43%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/test_utils_cuda.cu.o
[ 44%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/blox.cu.o
[ 45%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/blox_utils.cu.o
[ 45%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/gpu_layer_utils.cu.o
[ 46%] Building CUDA object tests/CMakeFiles/nvblox_test_utils.dir/lib/cuda/gpu_indexing.cu.o
[ 47%] Linking CUDA device code CMakeFiles/nvblox_test_utils.dir/cmake_device_link.o
[ 47%] Linking CXX shared library libnvblox_test_utils.so
[ 47%] Built target nvblox_test_utils
[ 48%] Building CXX object tests/CMakeFiles/test_camera.dir/test_camera.cpp.o
[ 49%] Linking CXX executable test_camera
[ 49%] Built target test_camera
[ 50%] Building CXX object tests/CMakeFiles/test_indexing.dir/test_indexing.cpp.o
[ 51%] Linking CXX executable test_indexing
[ 51%] Built target test_indexing
[ 51%] Building CXX object tests/CMakeFiles/test_layer.dir/test_layer.cpp.o
[ 52%] Linking CXX executable test_layer
[ 52%] Built target test_layer
[ 53%] Building CXX object tests/CMakeFiles/test_3d_interpolation.dir/test_3d_interpolation.cpp.o
[ 53%] Linking CXX executable test_3d_interpolation
[ 53%] Built target test_3d_interpolation
[ 54%] Building CXX object tests/CMakeFiles/test_tsdf_integrator.dir/test_tsdf_integrator.cpp.o
[ 54%] Linking CXX executable test_tsdf_integrator
[ 54%] Built target test_tsdf_integrator
[ 55%] Building CXX object tests/CMakeFiles/test_3dmatch.dir/test_3dmatch.cpp.o
[ 56%] Linking CXX executable test_3dmatch
[ 56%] Built target test_3dmatch
[ 56%] Building CXX object tests/CMakeFiles/test_unified_ptr.dir/test_unified_ptr.cpp.o
[ 57%] Linking CXX executable test_unified_ptr
[ 57%] Built target test_unified_ptr
[ 58%] Building CXX object tests/CMakeFiles/test_mesh.dir/test_mesh.cpp.o
[ 58%] Linking CXX executable test_mesh
[ 58%] Built target test_mesh
[ 59%] Building CXX object tests/CMakeFiles/test_scene.dir/test_scene.cpp.o
c++: internal compiler error: Segmentation fault signal terminated program cc1plus
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-8/README.Bugs> for instructions.
tests/CMakeFiles/test_scene.dir/build.make:75: recipe for target 'tests/CMakeFiles/test_scene.dir/test_scene.cpp.o' failed
make[2]: *** [tests/CMakeFiles/test_scene.dir/test_scene.cpp.o] Error 4
CMakeFiles/Makefile2:883: recipe for target 'tests/CMakeFiles/test_scene.dir/all' failed
make[1]: *** [tests/CMakeFiles/test_scene.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2

tried with gcc/cpp7, 8

AndreV84 commented 2 years ago

@helenol at another jetson unit

[ 58%] Built target test_mesh
[ 59%] Building CXX object tests/CMakeFiles/test_scene.dir/test_scene.cpp.o
c++: internal compiler error: Segmentation fault (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
tests/CMakeFiles/test_scene.dir/build.make:75: recipe for target 'tests/CMakeFiles/test_scene.dir/test_scene.cpp.o' failed
make[2]: *** [tests/CMakeFiles/test_scene.dir/test_scene.cpp.o] Error 4
CMakeFiles/Makefile2:883: recipe for target 'tests/CMakeFiles/test_scene.dir/all' failed
make[1]: *** [tests/CMakeFiles/test_scene.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2

any ideas?

AndreV84 commented 2 years ago

seems it wil require to run

git lfs pull
helenol commented 2 years ago

Issues addressed in https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox/issues/6

AndreV84 commented 2 years ago

@helenol May I know how the issues have been addressed? what is the solution you propose to build the nvblox, without ros2 interface on Xavier natively? I tried to build it using the steps published by you for building natively without use of docker, they won't work failing with error below

~/dev/nvblox/nvblox/build$ cmake .. && make && cd tests && ctest
-- The CXX compiler identification is GNU 8.4.0
-- The CUDA compiler identification is NVIDIA 10.2.300
-- 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 CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Check for working CUDA compiler: /usr/local/cuda-10.2/bin/nvcc - skipped
-- Detecting CUDA compile features
-- Detecting CUDA compile features - done
-- Downloading 3rdparty dependencies
-- Downloading Eigen
-- Downloading STDGPU
-- Found thrust: /usr/local/cuda/include (found suitable version "1.9.7", minimum required is "1.9.2") 
-- Found CUDAToolkit: /usr/local/cuda-10.2/include (found suitable version "10.2.300", minimum required is "10.0") 
-- Looking for C++ include pthread.h
-- Looking for C++ include pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) (Required is at least version "1.9.1")
-- 
-- ************************ stdgpu Configuration Summary *************************
-- 
-- General:
--   Version                                   :   1.3.0
--   System                                    :   Linux
--   Build type                                :   RelWithDebInfo
-- 
-- Build:
--   STDGPU_BACKEND                            :   STDGPU_BACKEND_CUDA
--   STDGPU_BUILD_SHARED_LIBS                  :   ON
--   STDGPU_SETUP_COMPILER_FLAGS               :   OFF
--   STDGPU_TREAT_WARNINGS_AS_ERRORS           :   OFF
--   STDGPU_ANALYZE_WITH_CLANG_TIDY            :   OFF
--   STDGPU_ANALYZE_WITH_CPPCHECK              :   OFF
-- 
-- Configuration:
--   STDGPU_ENABLE_CONTRACT_CHECKS             :   OFF
--   STDGPU_USE_32_BIT_INDEX                   :   ON
-- 
-- Examples:
--   STDGPU_BUILD_EXAMPLES                     :   OFF
-- 
-- Tests:
--   STDGPU_BUILD_TESTS                        :   OFF
--   STDGPU_BUILD_TEST_COVERAGE                :   OFF
-- 
-- Documentation:
--   Doxygen                                   :   NO
-- 
-- *******************************************************************************
-- 
-- Detecting CCs of GPUs : /home/nvidia/dev/nvblox/nvblox/build/_deps/ext_stdgpu-src/cmake/cuda/compute_capability.cpp
-- Detecting CCs of GPUs : /home/nvidia/dev/nvblox/nvblox/build/_deps/ext_stdgpu-src/cmake/cuda/compute_capability.cpp - Success (found CCs : 72)
-- Enabled compilation for CC 72
-- Found CUDA: /usr/local/cuda-10.2 (found version "10.2") 
-- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Found Glog: /usr/include  
-- Found GTest: /usr/local/lib/libgtest.a  
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/camera-intrinsics.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000000.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000422.pose.txt
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000002.color.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000001.depth.png
-- Installing: /home/nvidia/dev/nvblox/nvblox/build/tests/data/3dmatch/seq-01/frame-000116.depth.png
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/dev/nvblox/nvblox/build
[  1%] Creating directories for 'ext_eigen'
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c++: internal compiler error: Segmentation fault signal terminated program cc1plus
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-8/README.Bugs> for instructions.
tests/CMakeFiles/test_scene.dir/build.make:75: recipe for target 'tests/CMakeFiles/test_scene.dir/test_scene.cpp.o' failed
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Makefile:135: recipe for target 'all' failed
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why does the nvblox build fail on Jetson? Haven' you confirmed for native install on Jetson devices? @helenol

helenol commented 2 years ago

Yes the native install works for us on Jetson, tested on the AGX and NX. Which Jetson and which Jetpack version? Your compiler is segfaulting. This is the closest error to your problem I could find: https://github.com/opencv/opencv/issues/21181 Their final suggestion was to upgrade your CMake version: https://github.com/opencv/opencv/issues/21526

Which CMake are you running?

AndreV84 commented 2 years ago

I tested on NX/ AGX with jetpack 4.6.1 cmake cmake is already the newest version (3.23.0-0kitware1ubuntu18.04.1). @helenol

alexmillane commented 2 years ago

Like Helen said this is a segfault in your compiler. Which is weird. Can you run:

lsb_release -a && nvidia-smi

and post the results here?

AndreV84 commented 2 years ago

@alexmillane your suggestion to use nvidia-smi implies you assume I am running on x86_64? However, I am running on Jetson which is aarch64 that doesn't have the nvidia-smi obviously. Which cmake /gcc/cpp / g++ versions are you using on your Jetson platform? from AGX devkit

lsb_release -a && nvidia-smi
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 18.04.6 LTS
Release:    18.04
Codename:   bionic
-bash: nvidia-smi: command not found

from NX devkit


lsb_release -a && nvidia-smi
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 18.04.6 LTS
Release:    18.04
Codename:   bionic
-bash: nvidia-smi: command not found
helenol commented 2 years ago 
$ gcc -v
Using built-in specs.
COLLECT_GCC=gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/7/lto-wrapper
Target: aarch64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu/Linaro 7.5.0-3ubuntu1~18.04' --with-bugurl=file:///usr/share/doc/gcc-7/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++ --prefix=/usr --with-gcc-major-version-only --program-suffix=-7 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu
Thread model: posix
gcc version 7.5.0 (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04)

So we have an older version of gcc than you do and it builds fine out of the box. :)

It's honestly hard for me to interpret the docs, but I'm not 100% sure gcc 8.4 is supported for CUDA 10.2? https://docs.nvidia.com/cuda/archive/10.2/cuda-installation-guide-linux/index.html#system-requirements has an older gcc version listed as supported, and this gist explicitly lists "<= 8": https://gist.github.com/ax3l/9489132

I guess the possible issues your gcc is segfaulting:

  1. gcc version not playing nice with CUDA
  2. You're out of RAM for compilation (but you're running make with 1 thread so shouldn't really be an issue, especially on the AGX)
  3. Something else?

Since it's segfaulting during building the tests you can also just disable building tests I suppose.

cmake -DBUILD_TESTS=OFF ..
AndreV84 commented 2 years ago

with tests off 

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c++: internal compiler error: Segmentation fault signal terminated program cc1plus
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-8/README.Bugs> for instructions.
experiments/CMakeFiles/nvblox_experiments_common.dir/build.make:75: recipe for target 'experiments/CMakeFiles/nvblox_experiments_common.dir/src/common/fuse_3dmatch.cpp.o' failed
make[2]: *** [experiments/CMakeFiles/nvblox_experiments_common.dir/src/common/fuse_3dmatch.cp

tried with gcc7 8 9

AndreV84 commented 2 years ago 

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c++: internal compiler error: Segmentation fault (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
experiments/CMakeFiles/nvblox_experiments_common.dir/build.make:75: recipe for target 'experiments/CMakeFiles/nvblox_experiments_common.dir/src/common/fuse_3dmatch.cpp.o' failed
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make[1]: *** [experiments/CMakeFiles/nvblox_experiments_common.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
helenol commented 2 years ago

I'm out of ideas TBH. I can't reproduce this on any of my devices, and it runs regularly in CI on Jetson without ever hitting this issue. I don't know what's different about your setup than ours.

A few other hints to try from other people having similar issues on google; https://forums.developer.nvidia.com/t/ros-hector-mapping-c-internal-compiler-error-segmentation-fault-program-cc1plus/199672

AndreV84 commented 2 years ago

@helenol thanks for headings up! The shared url reminded me about another issue for that I have a solution. So Igot through the build process by increasing the stack [ hard/soft] in limits - that is the limitation reduce that was imposed by recent jetpack

Could you extend how I can use local stereolabs zed camera, please? Given I have zed sdk installed, zed camera connected to AGX? How to run nvblox with it?

AndreV84 commented 2 years ago

following further sample vizualization steps I am getting in another err:

I0405 21:20:11.096464 16482 fuse_3dmatch.cpp:69] Writing timings to file.
I0405 21:20:11.096519 16482 fuse_3dmatch.cpp:241] Writing timing to: ./3dmatch_timings.txt
nvidia@nvidia-desktop:~/nvblox/nvblox/build/experiments$ pip3 install open3d
Defaulting to user installation because normal site-packages is not writeable
Collecting open3d
  Downloading open3d-0.15.1-cp36-cp36m-manylinux2014_aarch64.whl (94.6 MB)
     |████████████████████████████████| 94.6 MB 50.1 MB/s            
Requirement already satisfied: numpy>=1.18.0 in /home/nvidia/.local/lib/python3.6/site-packages (from open3d) (1.19.5)
Requirement already satisfied: wheel>=0.36.0 in /usr/local/lib/python3.6/dist-packages (from open3d) (0.37.0)
Requirement already satisfied: setuptools>=40.8.0 in /usr/local/lib/python3.6/dist-packages (from open3d) (49.6.0)
Installing collected packages: open3d
Successfully installed open3d-0.15.1
nvidia@nvidia-desktop:~/nvblox/nvblox/build/experiments$ python3 ../../visualization/visualize_mesh.py mesh.ply
Illegal instruction (core dumped)

this one seems caused by step of importinjg numpy as in https://github.com/numpy/numpy/issues/18131 this one seems addressed by freezing numpy version 


pip3 install numpy==1.19.4
AndreV84 commented 2 years ago

Screenshot from 2022-04-05 21-33-22 but how can I run vizualizatino with ZED camera?

helenol commented 2 years ago

An alternative solution is to export the following in your bashrc. We'll add that to the README. export OPENBLAS_CORETYPE=ARMV8

I'm glad you finally got it working! I'll close this issue as resolved. For the Zed2, you should follow their instructions to install the ROS2 drivers on the Jetson ( https://www.stereolabs.com/docs/ros2/ ) and use the command I sent on the other thread with the ROS2 wrapper for nvblox.

AndreV84 commented 2 years ago

@helenol so without the ros wrapper nvblox app won't visualize zed camera outputs? However, I asked zed what may be the non identified value you spoke of as of "global frame"

Usually, the "global_frame" is map, but it depends on your configuration and on what node you are using.

so what exactly to put in global frame value? for zed ?

Regarding the other thread for ros interface of nvblox - so it wil require to get a separate ROS zed node running? or it will just be able to read somehow from the camera e.g. using v4l2camera?

helenol commented 2 years ago

@AndreV84 I'm not sure what you're asking. Are you asking if we've implemented a native ZED2 camera support into the native library? No, nor do we intend to do that, nor for any camera. The library is just that: a library that, given images and poses, can create a volumetric representation of the environment. You are free to get data in and out of it as you want. If you want to interact with physical sensors, then this is covered through standard interfaces in the ROS2 wrapper. I suggest reading up on ROS2 basics and using the existing drivers and wrappers available from the ROS2 community. :)

AndreV84 commented 2 years ago

@helenol thank you for following up what exactly to put in the value global_frame?

AndreV84 commented 2 years ago

sttereolabs points out that it is likely 'map as in https://www.stereolabs.com/docs/ros2/zed-node/#transform-frame could you confirm that I shall just put map value for global frame?

AndreV84 commented 2 years ago

@helenol