search

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
Other
9.37k stars 4.69k forks source link

./Build.sh causes system crash #592

Open Richard-Owen-3DI opened 6 years ago

Richard-Owen-3DI commented 6 years ago

Hello,

I'm trying to install ORB_SLAM2 on a TOSHIBA Satellite running Ubuntu 16.04

I have compiled Pangolin successfully from source, and the file libpangolin.so can be found at /home/[user name]/packages/Pangolin/build/src

Following the install instructions though and executing the build.sh script causes the system to install up to about 60%, and then totally freezes so I have to power cycle the machine (also meaning i am unable to capture a screen shot)

following the processes of

mkdir build cd build cmake ..

gives me the warning of:

"CMake Warning (dev) at CMakeLists.txt:87 (target_link_libraries): Cannot specify link libraries for target "pangolin" which is not built by this project.

CMake does not support this but it used to work accidentally and is being allowed for compatibility.

Policy CMP0016 is not set: target_link_libraries() reports error if its only argument is not a target. Run "cmake --help-policy CMP0016" for policy details. Use the cmake_policy command to set the policy and suppress this warning. This warning is for project developers. Use -Wno-dev to suppress it."

attempting to compile from this point will give me: " [ 56%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Initializer.cc.o make[2]: No rule to make target '../Thirdparty/DBoW2/lib/libDBoW2.so', needed by '../lib/libORB_SLAM2.so'. Stop. make[2]: Waiting for unfinished jobs.... [ 59%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o CMakeFiles/Makefile2:252: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed make[1]: [CMakeFiles/ORB_SLAM2.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: [all] Error 2 "

I'm unsure how to progress, Should I modify the CMakefile.txt? Is Pangolin not as well installed as I believe it to be?

Would really appreciate any help.

Many thanks.

saikrn112 commented 6 years ago

Hi Richard, This might be due to number of jobs make is taking to compile. Depending on the number of cores available make will try to parallelize the compilation process. So system might freeze if make is using all the cores for compilation. (although not sure of why it might happen). I decreased the compilation jobs to 3 using make -j 3 (since I have 4 cores in my PC) and it compiled properly.

Please try to decrease the compilation jobs and check if the error exists.

Richard-Owen-3DI commented 6 years ago

Hello,

Thank you for your response. I decreased the number of compilation jobs to 1. The system no longer freezes, which is progress of sorts, but it still fails to compile. The error I get is as follows:

"[ 59%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o make[2]: No rule to make target '../Thirdparty/DBoW2/lib/libDBoW2.so', needed by '../lib/libORB_SLAM2.so'. Stop. CMakeFiles/Makefile2:252: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed make[1]: [CMakeFiles/ORB_SLAM2.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2"

Above in the generation and configuration by cmake I am getting the same message as before:

"CMake Warning (dev) at CMakeLists.txt:87 (target_link_libraries): Cannot specify link libraries for target "pangolin" which is not built by this project."

As well as hundreds of OpenCV errors, an example of which can be seen below:

error #error "OpenCV 4.x+ requires enabled C++11 support

Thanks once again for your help

Richard-Owen-3DI commented 6 years ago

UPDATE

I have now compiled DBoW2, which required an older version of OpenCV to install properly.

Now when trying to compile ORB_SLAM2 I get the following error:

"[ 68%] Linking CXX executable ../Examples/Monocular/mono_euroc /usr/bin/ld: warning: libopencv_core.so.3.1, needed by ../Thirdparty/DBoW2/lib/libDBoW2.so, may conflict with libopencv_core.so.3.4 CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o:(.data+0x0): undefined reference to vtable for pangolin::HandlerScroll' CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o:(.data+0x8): undefined reference tovtable for pangolin::Handler' CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o: In function pangolin::GlTexture::Reinitialise(int, int, int, bool, int, unsigned int, unsigned int, void*)': mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x4a): undefined reference toglGenTextures' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x57): undefined reference to glBindTexture' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x7c): undefined reference toglTexImage2D' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x99): undefined reference to glTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xad): undefined reference toglTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xc1): undefined reference to glTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xd5): undefined reference toglTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xda): undefined reference to glGetError' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x108): undefined reference toglTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x11c): undefined reference to glTexParameteri' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x12b): undefined reference topangolin::glErrorString(unsigned int)' mono_euroc.cc:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x19d): undefined reference to glDeleteTextures' CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o: In functionpangolin::GlTexture::~GlTexture()': mono_euroc.cc:(.text._ZN8pangolin9GlTextureD2Ev[_ZN8pangolin9GlTextureD5Ev]+0x15): undefined reference to pangolin::ShouldQuit()' mono_euroc.cc:(.text._ZN8pangolin9GlTextureD2Ev[_ZN8pangolin9GlTextureD5Ev]+0x28): undefined reference toglDeleteTextures' CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o: In function pangolin::GlTexture::~GlTexture()': mono_euroc.cc:(.text._ZN8pangolin9GlTextureD0Ev[_ZN8pangolin9GlTextureD5Ev]+0x21): undefined reference topangolin::ShouldQuit()' mono_euroc.cc:(.text._ZN8pangolin9GlTextureD0Ev[_ZN8pangolin9GlTextureD5Ev]+0x33): undefined reference to glDeleteTextures' ../lib/libORB_SLAM2.so: undefined reference toglClearColor' ../lib/libORB_SLAM2.so: undefined reference to glColor3f' ../lib/libORB_SLAM2.so: undefined reference toglMultMatrixd' ../lib/libORB_SLAM2.so: undefined reference to pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, int, pangolin::Params const&)' ../lib/libORB_SLAM2.so: undefined reference toglClear' ../lib/libORB_SLAM2.so: undefined reference to glEnable' ../lib/libORB_SLAM2.so: undefined reference topangolin::CreatePanel(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)' ../lib/libORB_SLAM2.so: undefined reference to pangolin::BindToContext(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' ../lib/libORB_SLAM2.so: undefined reference topangolin::VarState::I()' ../lib/libORB_SLAM2.so: undefined reference to glEnd' ../lib/libORB_SLAM2.so: undefined reference topangolin::FinishFrame()' ../lib/libORB_SLAM2.so: undefined reference to pangolin::OpenGlRenderState::Follow(pangolin::OpenGlMatrix const&, bool)' ../lib/libORB_SLAM2.so: undefined reference toglBegin' ../lib/libORB_SLAM2.so: undefined reference to glPopMatrix' ../lib/libORB_SLAM2.so: undefined reference topangolin::CreateDisplay()' ../lib/libORB_SLAM2.so: undefined reference to pangolin::ProjectionMatrix(int, int, double, double, double, double, double, double)' ../lib/libORB_SLAM2.so: undefined reference toglBlendFunc' ../lib/libORB_SLAM2.so: undefined reference to pangolin::View::SetHandler(pangolin::Handler*)' ../lib/libORB_SLAM2.so: undefined reference topangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)' ../lib/libORB_SLAM2.so: undefined reference to pangolin::OpenGlRenderState::SetModelViewMatrix(pangolin::OpenGlMatrix)' ../lib/libORB_SLAM2.so: undefined reference toglVertex3f' ../lib/libORB_SLAM2.so: undefined reference to glLineWidth' ../lib/libORB_SLAM2.so: undefined reference topangolin::Split(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, char)' ../lib/libORB_SLAM2.so: undefined reference to glPointSize' ../lib/libORB_SLAM2.so: undefined reference topangolin::ModelViewLookAt(double, double, double, double, double, double, double, double, double)' ../lib/libORB_SLAM2.so: undefined reference to pangolin::OpenGlRenderState::OpenGlRenderState(pangolin::OpenGlMatrix const&, pangolin::OpenGlMatrix const&)' ../lib/libORB_SLAM2.so: undefined reference topangolin::View::SetBounds(pangolin::Attach, pangolin::Attach, pangolin::Attach, pangolin::Attach, double)' ../lib/libORB_SLAM2.so: undefined reference to glMultMatrixf' ../lib/libORB_SLAM2.so: undefined reference topangolin::OpenGlMatrix::SetIdentity()' ../lib/libORB_SLAM2.so: undefined reference to glPushMatrix' ../lib/libORB_SLAM2.so: undefined reference topangolin::View::SetBounds(pangolin::Attach, pangolin::Attach, pangolin::Attach, pangolin::Attach)' ../lib/libORB_SLAM2.so: undefined reference to pangolin::View::Activate(pangolin::OpenGlRenderState const&) const' ../lib/libORB_SLAM2.so: undefined reference toglColor4f' collect2: error: ld returned 1 exit status CMakeFiles/mono_euroc.dir/build.make:115: recipe for target '../Examples/Monocular/mono_euroc' failed make[2]: [../Examples/Monocular/mono_euroc] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mono_euroc.dir/all' failed make[1]: [CMakeFiles/mono_euroc.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2"

So it seems like the compilation being able to find the Pangolin library is my only outstanding issue.

Tien94 commented 6 years ago

Hi, I also run ORB-SLAM2 version of Jiankai (https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced) on Ubuntu16.04LTS and got the issue: make[2]: *** No rule to make target '../Thirdparty/DBoW2/lib/libDBoW2.so'.

Then I solved it by manually copied the file libDBoW2.so (which I successfully built from another ORB-SLAM2 source (https://github.com/raulmur/ORB_SLAM2) ) to the respective folder /Thirdparty/DBoW2/lib of my current ORB-SLAM2 directory and built again.

I attached the libDBoW2.so in case you'd like to try this way. libDBoW2.so.tar.gz