some problems in running and using SuMa

[jingyuzhao1010]

Thank you for making your work open source. Amazing work!
After running the following command cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=410, I couldn't find anything in the bin directory of the source folder of the project, as shown below:


So I wonder where to find visualizer in the bin directory. Could you tell me what's wrong in this process?
Thank you very much!

[jbehley]

can you provide the output on the terminal; what happens after calling cmake? Is there maybe a compilation error and therefore the binary not produced?

[jingyuzhao1010]

here is the first output when i cmake:

jy@jy-virtual-machine:~/SuMa/build$ cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=410
-- 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/libOpenGL.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.
Scanning dependencies of target gtsam-populate
[ 11%] Creating directories for 'gtsam-populate'
[ 22%] Performing download step (git clone) for 'gtsam-populate'
Cloning into 'gtsam-src'...
fatal: the remote end hung up unexpectedly
fatal: early EOF
fatal: index-pack failed
Cloning into 'gtsam-src'...
fatal: the remote end hung up unexpectedly
fatal: early EOF
fatal: index-pack failed
Cloning into 'gtsam-src'...
error: RPC failed; curl 92 HTTP/2 stream 0 was not closed cleanly: CANCEL (err 8)
fatal: the remote end hung up unexpectedly
fatal: early EOF
fatal: index-pack failed
-- Had to git clone more than once:
          3 times.
CMake Error at gtsam-subbuild/gtsam-populate-prefix/tmp/gtsam-populate-gitclone.cmake:31 (message):
  Failed to clone repository: 'https://github.com/borglab/gtsam.git'


make[2]: *** [CMakeFiles/gtsam-populate.dir/build.make:92: gtsam-populate-prefix/src/gtsam-populate-stamp/gtsam-populate-download] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/gtsam-populate.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

CMake Error at /usr/share/cmake-3.16/Modules/FetchContent.cmake:915 (message):
  Build step for gtsam failed: 2
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FetchContent.cmake:1006 (__FetchContent_directPopulate)
  /usr/share/cmake-3.16/Modules/FetchContent.cmake:1047 (FetchContent_Populate)
  external/gtsam.cmake:18 (FetchContent_MakeAvailable)
  external/find_dependencies.cmake:4 (include)
  CMakeLists.txt:8 (include)


-- Configuring incomplete, errors occurred!
See also "/home/jy/SuMa/build/CMakeFiles/CMakeOutput.log".

and the following is the second result when i cmake:

jy@jy-virtual-machine:~/SuMa/build$ cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=410
-- [SuMa] Fetching glow.
-- 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")  
-- Found TBB: /usr/include (found suitable version "2020.1", minimum required is "4.4") found components: tbb tbbmalloc 
-- 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 /home/jy/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                                    : Yes (Version: 2020.1)
--  Eigen will use MKL                               : MKL not found
--  Eigen will use MKL and OpenMP                    : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
--  Default allocator                                : TBB
--  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
-- ===============================================================
-- 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