RGBD failing to compile with OpenGL enabled

eezstreet commented 5 years ago

System information (version)

OpenCV => Latest master
Operating System / Platform => Windows 10 x64
Compiler => Visual Studio 2017 x64

Detailed description

With OpenGL enabled and RGBD, it does not compile due to an error:

OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): error C2131: expression did not evaluate to a constant
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): note: failure was caused by a read of a variable outside its lifetime
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): note: see usage of 'this'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(206): note: while compiling class template member function 'void cv::dynafu::DynaFuImpl<cv::Mat>::drawScene(cv::OutputArray,cv::OutputArray)'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(526): note: see reference to function template instantiation 'void cv::dynafu::DynaFuImpl<cv::Mat>::drawScene(cv::OutputArray,cv::OutputArray)' being compiled
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(275): note: while compiling class template member function 'cv::dynafu::DynaFuImpl<cv::Mat>::~DynaFuImpl(void)'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(291): note: see reference to class template instantiation 'cv::dynafu::DynaFuImpl<cv::Mat>' being compiled
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): error C2131: expression did not evaluate to a constant
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): note: failure was caused by a read of a variable outside its lifetime
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): note: see usage of 'this'

The exact code that is failing is here:

float f[params.frameSize.width*params.frameSize.height];

Steps to reproduce

Compile with OpenGL and RGBD enabled.

LaurentBerger commented 5 years ago

float f[params.frameSize.width*params.frameSize.height]; is it really C++ https://en.cppreference.com/w/cpp/language/array ?

ThomasLengeling commented 5 years ago

I also have the problem with

Severity Code Description Project File Line Suppression State Error C2131 expression did not evaluate to a constant opencv_rgbd

[234] - float f[params.frameSize.width*params.frameSize.height];
[235] - float pixels[params.frameSize.width*params.frameSize.height][3];

juxiangwu commented 5 years ago

I also have the same problem. Error C2131 expression did not evaluate to a constant opencv_rgbd

minimalisticMe commented 5 years ago

If you don't need the RGB-Depth Processing module (that's where the error occurs) and just want to compile opencv on windows, just deactivate the extra module with -DBUILD_opencv_rgbd=OFF during cmake-configure and you are good to go.

LaurentBerger commented 5 years ago

Problem is not easy to solve. You can use vector instaed of float[] but it does not solve problem. New problem is glext.h which is not available on windows. You can download it with khrplatform.h and then you will have link errors :

1>dynafu.obj : error LNK2019: unresolved external symbol glBindRenderbufferEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z) 1>dynafu.obj : error LNK2019: unresolved external symbol glGenRenderbuffersEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z) 1>dynafu.obj : error LNK2019: unresolved external symbol glRenderbufferStorageEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z) 1>dynafu.obj : error LNK2019: unresolved external symbol glBindFramebufferEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z) 1>dynafu.obj : error LNK2019: unresolved external symbol glGenFramebuffersEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z) 1>dynafu.obj : error LNK2019: unresolved external symbol glFramebufferRenderbufferEXT referenced in function "public: cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)

This module is not compatible with windows and msvc. It is not available in 3.4 branch

MGarvinNYC commented 4 years ago

I have encountered what seems to be a related problem, when compiling under Linux.

When OPENCV_ENABLE_NONFREE is set, and OpenGL_GL_PREFERENCE is set to GLVND (newer OpenGL), the build fails, with reference to libopencv_rgbd:

../../lib/libopencv_rgbd.so.4.2.0: undefined reference to `glRenderbufferStorageEXT' etc...

But if OpenGL_GL_PREFERENCE is set to LEGACY, there is no error.

zuoyizhongguo commented 4 years ago

Also have the problem：dynafu.cpp:181:26: error: 'glGenRenderbuffersEXT' was not declared in this scope glGenRenderbuffersEXT(1, &fbo_depth);

smartnet-club commented 4 years ago

The issue described here and here set BUILD_opencv_rgbd=OFF for fast build fix

alalek commented 4 years ago

Reopening... Fix #2679 handles Windows case only, we need similar approach for Linux platform too.

acochrane commented 4 years ago

Just adding the 'diff' from GArik's pull to my 4.4.0 release build appears to have fixed the issue on my Jetson nano (running linux).

twdragon commented 2 years ago

Confirmed building on Ubuntu 22.04, patch by @GArik works fine

jiapei100 commented 1 year ago

Trying to build OpenCV-4.7.0 and met this same issue.

It looks patch by @GArik works okay for this specific problem. However, I still cannot figure out this issue ...

jiapei100 commented 6 months ago

If you don't need the RGB-Depth Processing module (that's where the error occurs) and just want to compile opencv on windows, just deactivate the extra module with -DBUILD_opencv_rgbd=OFF during cmake-configure and you are good to go.

As you said, I solved this issue by Turn OFF rgbd. Thank you ...

xkszltl commented 1 week ago

The GLVND build seems to be broken again after 4.6.0 in dynafu.cpp. IIRC 4.5.5 works.

Change Dir: '/tmp/scratch/opencv/build'

Run Build Command(s): /usr/bin/ninja -v
[1/3] : && /usr/bin/g++-12 -fPIC -fdebug-prefix-map='/tmp/scratch'='/usr/local/src' -g   -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -flto=auto  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -O3 -DNDEBUG  -DNDEBUG  -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a   -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined -shared -Wl,-soname,libopencv_rgbd.so.410 -o lib/libopencv_rgbd.so.4.10.0 modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/colored_kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/colored_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_cleaner.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_registration.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_to_3d.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dqb.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/fast_icp.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/hash_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu_frame.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/large_kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/linemod.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/nonrigid_icp.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/normal.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/odometry.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/plane.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/pose_graph.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/tsdf_functions.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/utils.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/volume.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/warpfield.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/opencl_kernels_rgbd.cpp.o  -Wl,-rpath,/tmp/scratch/opencv/build/lib::::::::::::::::::::::::::::  lib/libopencv_calib3d.so.4.10.0  -ldl  -lm  -lpthread  -lrt  3rdparty/lib/libippiw.a  3rdparty/ippicv/ippicv_lnx/icv/lib/intel64/libippicv.a  /usr/lib/x86_64-linux-gnu/libOpenGL.so  /usr/lib/x86_64-linux-gnu/libGLX.so  /usr/lib/x86_64-linux-gnu/libGLU.so  lib/libopencv_features2d.so.4.10.0  lib/libopencv_flann.so.4.10.0  lib/libopencv_imgproc.so.4.10.0  lib/libopencv_core.so.4.10.0 && :
FAILED: lib/libopencv_rgbd.so.4.10.0 
: && /usr/bin/g++-12 -fPIC -fdebug-prefix-map='/tmp/scratch'='/usr/local/src' -g   -fsigned-char -W -Wall -Wreturn-type -Wnon-virtual-dtor -Waddress -Wsequence-point -Wformat -Wformat-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections -flto=auto  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -fopenmp -O3 -DNDEBUG  -DNDEBUG  -Wl,--exclude-libs,libippicv.a -Wl,--exclude-libs,libippiw.a   -Wl,--gc-sections -Wl,--as-needed -Wl,--no-undefined -shared -Wl,-soname,libopencv_rgbd.so.410 -o lib/libopencv_rgbd.so.4.10.0 modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/colored_kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/colored_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_cleaner.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_registration.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_to_3d.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dqb.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/fast_icp.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/hash_tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu_frame.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/large_kinfu.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/linemod.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/nonrigid_icp.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/normal.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/odometry.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/plane.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/pose_graph.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/tsdf.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/tsdf_functions.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/utils.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/volume.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/warpfield.cpp.o modules/rgbd/CMakeFiles/opencv_rgbd.dir/opencl_kernels_rgbd.cpp.o  -Wl,-rpath,/tmp/scratch/opencv/build/lib::::::::::::::::::::::::::::  lib/libopencv_calib3d.so.4.10.0  -ldl  -lm  -lpthread  -lrt  3rdparty/lib/libippiw.a  3rdparty/ippicv/ippicv_lnx/icv/lib/intel64/libippicv.a  /usr/lib/x86_64-linux-gnu/libOpenGL.so  /usr/lib/x86_64-linux-gnu/libGLX.so  /usr/lib/x86_64-linux-gnu/libGLU.so  lib/libopencv_features2d.so.4.10.0  lib/libopencv_flann.so.4.10.0  lib/libopencv_imgproc.so.4.10.0  lib/libopencv_core.so.4.10.0 && :
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o: in function `cv::dynafu::DynaFu::create(cv::Ptr<cv::kinfu::Params> const&)':
/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:159: undefined reference to `glGenRenderbuffersEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:160: undefined reference to `glBindRenderbufferEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:161: undefined reference to `glRenderbufferStorageEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:164: undefined reference to `glGenFramebuffersEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:165: undefined reference to `glBindFramebufferEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:167: undefined reference to `glFramebufferRenderbufferEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:171: undefined reference to `glGenRenderbuffersEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:172: undefined reference to `glBindRenderbufferEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:173: undefined reference to `glRenderbufferStorageEXT'
/usr/bin/ld: /tmp/cc2PQ6yJ.ltrans1.ltrans.o:/usr/local/src/opencv/build/../contrib/modules/rgbd/src/dynafu.cpp:175: undefined reference to `glFramebufferRenderbufferEXT'
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.

xkszltl commented 1 week ago

Using LEGACY instead of GLVND works, and this kind of change may help as well:

https://github.com/opencv/opencv/pull/22836

But ideally we should replace them with something modern.

opencv / opencv_contrib