Interactive-slam imGui slam3dTool防坑手册

问题一、

glfw error 65544: X11: RandR gamma ramp support seems broken
error : failed to compile shader /home/ros_proj/catkin_ws/src/interactive_slam/data/shader/rainbow.vert
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

error : failed to compile shader /home/ros_proj/catkin_ws/src/interactive_slam/data/shader/rainbow.frag
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

error : failed to link program
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
error : failed to compile shader /home/ros_proj/catkin_ws/src/interactive_slam/data/shader/rainbow.vert
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

error : failed to compile shader /home/ros_proj/catkin_ws/src/interactive_slam/data/shader/rainbow.frag
0:1(10): error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.40, 1.00 ES, and 3.00 ES

error : failed to link program
error: linking with uncompiled/unspecialized shadererror: linking with uncompiled/unspecialized shader

解决：上述绿色报错部分解决方案如下：

1 I fixed this , I change some code in /src/imgui_application.cpp :
2 // glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
3 // glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
4 glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
5 glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
6 glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);

经过实践，第六行注释掉也可以；修改之后，可以正常运行了，但是加载点云之后，帧率很低，集成显卡没工作。

参考：（项目issue）https://github.com/SMRT-AIST/interactive_slam/issues/15https://github.com/SMRT-AIST/interactive_slam/issues/15

Note：上面红色部分错误，依据调查，原因是glfw3.2以及老版本才有这个潜在问题，3.3以后就没了，但是你看上面代码，已经改为3.3；我查看了下设置->详细信息->图像->llvmpipe (LLVM 10.0.0, 256 bits)，显然intel 11代cpu Xe显卡驱动没有正常安装，后续依据调查，intel对ubuntu驱动支持到17.04就没更新了，为此，我需要升级linux内核，或者使用ubuntu20.04以上版本，参考下图，我现在内核版本是5.2，具体怎么操作，强烈建议看看：https://zhuanlan.zhihu.com/p/133323571

参考：https://askubuntu.com/questions/1319758/ubuntu-18-04-with-intel-iris-xe

问题二、有关项目的环境额外配置

1、建议使用clang编译器

如何在clion中设置clang编译器？

To provide CMake compiler paths, go to Settings | Build, Execution, Deployment | CMake and pass as CMake options:-D CMAKE_C_COMPILER=
-D CMAKE_CXX_COMPILER=
In case CMake fails to find some path to clang libs, etc. you can also set there environment variables:CC=/usr/bin/clang
CXX=/usr/bin/clang++

在clion -> 设置 -> 工具链中，点击加号，新建工具链，命名为clang，
其中c编译器：/usr/bin/clang-6.0
C++编译器：/usr/bin/clang++-6.0
　　然后返回clion中设置CMake，切换到刚刚创建的工具链，即：clang

　　（设置clang为默认编译器，下次打开其他项目记得切换gcc or g++为默认编译器）

2、安装gtsam

常规编译安装就OK，的修改CMakeLists，关闭TBB功能，参考：问题12。

问题3：编译报错：fatal error: self_msgs/wheel_speed.h: 没有那个文件或目录
没有build/devel/include/self_msgs目录下面的头，缺少四个头文件，咱们直接去之前vscode目录下生成的
头文件，直接拷贝到clion工程中。

问题4：Errors << lidar_align:make /home/vinz/catkin_ws/logs/lidar_align/build.make.001.log In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /home/vinz/catkin_ws/src/lidar_align/include/lidar_align/sensors.h:8, from /home/vinz/catkin_ws/src/lidar_align/include/lidar_align/loader.h:7, from /home/vinz/catkin_ws/src/lidar_align/src/loader.cpp:5: /usr/include/flann/ext/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~~~~~~~~~ In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /home/vinz/catkin_ws/src/lidar_align/src/loader.cpp:2: /usr/include/lz4.h:196:57: note: previous declaration as ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~~~~~~~~~ In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /home/vinz/catkin_ws/src/lidar_align/include/lidar_align/sensors.h:8, from /home/vinz/catkin_ws/src/lidar_align/include/lidar_align/loader.h:7, from /home/vinz/catkin_ws/src/lidar_align/src/loader.cpp:5: /usr/include/flann/ext/lz4.h:249:72: error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~~~~~~~~~~~~~ In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /home/vinz/catkin_ws/src/lidar_align/src/loader.cpp:2: /usr/include/lz4.h:249:72: note: previous declaration as ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~~~~~~~~~~~~~ make[2]: *** [CMakeFiles/lidar_align.dir/src/loader.cpp.o] Error 1 make[1]: *** [CMakeFiles/lidar_align.dir/all] Error 2 make: *** [all] Error 2 cd /home/vinz/catkin_ws/build/lidar_align; catkin build --get-env lidar_align | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd

这个错误，咱们还没实践过，不过也要记录下，解决方案：

System: Ubuntu 18.04
ROS: melodic
Reason: /usr/include/lz4.h conflict with /usr/include/flann/ext/lz4.hI thing this will be fixed in next release version of system or ROS.
But you could try these commands to fix this problem.sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.baksudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

参考：https://github.com/ethz-asl/lidar_align/issues/16

问题5：编译inGui时，/usr/bin/ld: 找不到 -lglfw3

　　网上解答总结为：/usr/bin/ld: 找不到 -l****，大概思路就是先找到 ****.so，然后手动 ln 指令去链接，我这里搜索不到glfw3.so。

imgui官方解决：https://github.com/ocornut/imgui/issues/1032

我的解决：先查找已经安装的glfw3版本，如下，是：3.2.1-1

sudo apt-get install  libglfw3-dev
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
libglfw3-dev 已经是最新版 (3.2.1-1)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 3 个软件包未被升级。

去官网：https://github.com/glfw/glfw/tree/3.2.1

点击tag选版本，下载之后:

mkdir  build
cmake ..
make
sudo make install

解决！

问题六：

/usr/include/flann/ext/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’
typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t;

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.baksudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

问题七：fatal error: self_msgs/wheel_speed.h: 没有那个文件或目录#include <self_msgs/wheel_speed.h>

cmake生成的文件夹self_msgs，手动拷贝到slamtool_3d-master/include

问题八：

有时候make编译出错；需要重新cmake后，然后再make，错误居然消失了。

问题九：IDE设置、编译器设置

9.0 首先在一个解锁的路径copy项目源码

9.1、所有命令都不要sudo su，记得source后启动ide

9.3、

问题10：

error: failed to open ./data/shader/rainbow.vert
error: failed to open ./data/shader/rainbow.frag
error : failed to link program

解决：clion中设置为：编辑配置 - 工作目录：/home/temp/slamtool_3d-master

问题11：

对于G2O冲突问题，卸载ROS自带版本G2O

sudo apt-get purge ros-melodic-libg2o

问题12：

/usr/local/include/gtsam/linear/VectorValues.h:200:22: error: no member named 'emplace' in 'gtsam::ConcurrentMap<unsigned long, Eigen::Matrix<double, -1, 1, 0, -1, 1> >'
return values_.emplace(j, value);

解决：注意，此时此刻，我用的是clang编译器；我们重新编译安装gtsam库，将gtsam源码目录下的CMakeLists作如下修改（关闭TBB加速，将ON改为OFF）：

#option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" OFF)

然后重新 cmake..，sudo make install安装库就行了。

reference：https://zhuanlan.zhihu.com/p/85413855

问题13：运行时闪退，打印：double free or corruption (out)