opencv build issues

[patrickshas]

Hello,
We are trying to in build opencv for the waterloo icub (opencv 4.2.0 / cuda 10.2) and are running into some issues. We need this for https://github.com/robotology/stereo-vision
The build is successful till %100 (with few warnings) but crashes after. It seems to be access privileges to the /usr/local/share/ directory. I have tried sudo make install which also doesn't work (access privileges from the start of build). I am inserting the logs here. Any insight would be appreciated.

log.txt

[pattacini]

Judging from the log¹, the installation simply failed because of the missing sudo.
I don't know honestly why it's also failing from the start when you specified sudo. There's no log for that.

At any rate, you probably ought to check for the coexistence of multiple installations of OpenCV on the same machine, i.e., the standard and the custom versions. To accommodate that, one possibility is to rely on the OpenCV_DIR environment variable.

Just append the following line to your .bashrc:

export OpenCV_DIR=/usr/local/src/robot/opencv/build

The env var OpenCV_DIR will be used by the CMake machinery to locate the opencv package.
Don't install this time, just run make.

It should be sufficient.
By contrast, if you'll notice run-time errors, you could append also this line:

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${OpenCV_DIR}/lib

Hope this helps.

Footnotes

1. Please, remember to reduce clutter by attaching a file. ↩

[paliasgh]

Hi @pattacini , thanks a lot! That modification to .bashrc solved our OpenCV installation issue.

Continuing with the installation of stereo-vision, we ran into another issue. Doing the following will not result in having SFM installed, to run the application in here :

icub@icub26:/usr/local/src/robot/stereo-vision/build$ cmake ../
-- The C compiler identification is GNU 8.4.0
-- The CXX compiler identification is GNU 8.4.0
-- 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
-- Found YARP: /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.8.0")
-- Found YCM: /usr/local/src/robot/robotology-superbuild/build/install/share/cmake/YCM (found version "0.15.1")
-- Looking for pthread.h
-- Looking for 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  
-- Found CUDA: /usr/local/cuda-10.2 (found suitable exact version "10.2") 
-- Found OpenCV: /usr/local/src/robot/opencv/build/OpenCVConfig.cmake  
-- Found YARP: /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.8.0")
-- Found YCM: /usr/local/src/robot/robotology-superbuild/build/install/share/cmake/YCM (found version "0.15.1")
-- Found YCM: /usr/local/src/robot/robotology-superbuild/build/install/share/cmake/YCM (found version "0.15.1")
-- Found YARP: /usr/local/src/robot/robotology-superbuild/build/install/lib/cmake/YARP (found version "3.8.0")
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Found GSL: /usr/include (found version "2.5") 
-- Found IPOPT: /usr/lib/libipopt.so;/usr/lib/x86_64-linux-gnu/libdmumps_seq.so;/usr/lib/x86_64-linux-gnu/libblas.so;/usr/lib/x86_64-linux-gnu/liblapack.so;/usr/lib/x86_64-linux-gnu/libblas.so;/usr/lib/x86_64-linux-gnu/libdmumps_seq.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/gcc/x86_64-linux-gnu/9/libgfortran.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/gcc/x86_64-linux-gnu/9/libquadmath.so;/usr/lib/x86_64-linux-gnu/libblas.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/libdl.so  
-- Found ICUB 2.1.1 (Components: iCubDev ctrlLib skinDynLib iKin iDyn learningMachine perceptiveModels actionPrimitives optimization)
-- Libraries are placed in /usr/local/src/robot/stereo-vision/build/lib
-- Executables are placed in /usr/local/src/robot/stereo-vision/build/bin
-- Setting build type to 'Release' as none was specified.
-- Configuring done
-- Generating done
-- Build files have been written to: /usr/local/src/robot/stereo-vision/build
icub@icub26:/usr/local/src/robot/stereo-vision/build$ make
icub@icub26:/usr/local/src/robot/stereo-vision/build$ make install
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/contexts/stereoVision/sceneFlow.ini
-- Installing: /usr/local/src/robot/robotology-superbuild/build/install/share/ICUBcontrib/templates/applications/SFM.xml.template
icub@icub26:/usr/local/src/robot/stereo-vision/build$ SFM
SFM: command not found

I see that as per here, DisparityModule has taken over SFM (is the .xml application outdated?). Do we correctly install stereo-vision?

I also noticed that we have the following setup in ccmake, in which both USE_DISPARITYMODULE and USE_SFM are both OFF by default. Don't any of them need to be ON?

 CMAKE_BUILD_TYPE                 Release                                   
 CMAKE_INSTALL_PREFIX             /usr/local/src/robot/robotology-superbuild
 COMPILE_LIB                      OFF                                       
 CUDA_HOST_COMPILER               /usr/bin/cc                               
 CUDA_SDK_ROOT_DIR                CUDA_SDK_ROOT_DIR-NOTFOUND                
 CUDA_TOOLKIT_ROOT_DIR            /usr/local/cuda-10.2                      
 CUDA_USE_STATIC_CUDA_RUNTIME     ON                                        
 CUDA_rt_LIBRARY                  /usr/lib/x86_64-linux-gnu/librt.so        
 ICUBCONTRIB_INSTALL_WITH_RPATH   ON                                        
 ICUBCONTRIB_SHARED_LIBRARY       OFF                                       
 ICUB_DIR                         /usr/local/src/robot/robotology-superbuild
 ICUBcontrib_DIR                  /usr/local/src/robot/robotology-superbuild
 OpenCV_DIR                       /usr/local/src/robot/opencv/build         
 USE_DISPARITYMODULE              OFF                                       
 USE_SFM                          OFF                                       
 YARP_DIR                         /usr/local/src/robot/robotology-superbuild
 YARP_conf_DIR                    /usr/local/src/robot/robotology-superbuild
 YARP_cv_DIR                      /usr/local/src/robot/robotology-superbuild
 YARP_dev_DIR                     /usr/local/src/robot/robotology-superbuild
 YARP_gsl_DIR                     /usr/local/src/robot/robotology-superbuild
 YARP_idl_tools_DIR               /usr/local/src/robot/robotology-superbuild
 YARP_math_DIR                    /usr/local/src/robot/robotology-superbuild
 YARP_os_DIR                      /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_DIR                  /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_actionlib_msgs_DIR   /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_diagnostic_msgs_DI   /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_geometry_msgs_DIR    /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_native_DIR           /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_nav_msgs_DIR         /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_sensor_msgs_DIR      /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_shape_msgs_DIR       /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_std_msgs_DIR         /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_stereo_msgs_DIR      /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_tf2_msgs_DIR         /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_tf_DIR               /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_trajectory_msgs_DI   /usr/local/src/robot/robotology-superbuild
 YARP_rosmsg_visualization_msgs   /usr/local/src/robot/robotology-superbuild
 YARP_sig_DIR                     /usr/local/src/robot/robotology-superbuild
 YCM_DIR                          /usr/local/src/robot/robotology-superbuild
 actionPrimitives_DIR             /usr/local/src/robot/robotology-superbuild
 blas_PATH                        /usr/lib/x86_64-linux-gnu/libblas.so      
 ctrlLib_DIR                      /usr/local/src/robot/robotology-superbuild
 dl_PATH                          /usr/lib/x86_64-linux-gnu/libdl.so        
 dmumps_seq_PATH                  /usr/lib/x86_64-linux-gnu/libdmumps_seq.so
 gfortran_PATH                    /usr/lib/gcc/x86_64-linux-gnu/9/libgfortra
 iCubDev_DIR                      /usr/local/src/robot/robotology-superbuild
 iDyn_DIR                         /usr/local/src/robot/robotology-superbuild
 iKin_DIR                         /usr/local/src/robot/robotology-superbuild
 ipopt_PATH                       /usr/lib/libipopt.so                      
 lapack_PATH                      /usr/lib/x86_64-linux-gnu/liblapack.so    
 learningMachine_DIR              /usr/local/src/robot/robotology-superbuild
 m_PATH                           /usr/lib/x86_64-linux-gnu/libm.so         
 optimization_DIR                 /usr/local/src/robot/robotology-superbuild
 perceptiveModels_DIR             /usr/local/src/robot/robotology-superbuild
 quadmath_PATH                    /usr/lib/gcc/x86_64-linux-gnu/9/libquadmat
 skinDynLib_DIR                   /usr/local/src/robot/robotology-superbuild

Thanks in advance for you assistance!

[paliasgh]

Adding to the post above, making the project with USE_SFM = ON results in a basic error:

icub@icub26:/usr/local/src/robot/stereo-vision/build$ make
Scanning dependencies of target SFM
[ 50%] Building CXX object modules/SFM/CMakeFiles/SFM.dir/SFM.cpp.o
In file included from /usr/local/src/robot/stereo-vision/modules/SFM/SFM.cpp:23:
/usr/local/src/robot/stereo-vision/modules/SFM/SFM.h:248:10: fatal error: iCub/stereoVision/stereoCamera.h: No such file or directory
 #include <iCub/stereoVision/stereoCamera.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [modules/SFM/CMakeFiles/SFM.dir/build.make:63: modules/SFM/CMakeFiles/SFM.dir/SFM.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:161: modules/SFM/CMakeFiles/SFM.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

With USE_DISPARITYMODULE = ON , we get:

icub@icub26:/usr/local/src/robot/stereo-vision/build$ make
[ 11%] Building NVCC (Device) object modules/DisparityModule/sgbm_cuda/CMakeFiles/SGBM_CUDA.dir/SGBM_CUDA_generated_costs.cu.o
cc1plus: error while loading shared libraries: libisl.so.23: cannot open shared object file: No such file or directory
CMake Error at SGBM_CUDA_generated_costs.cu.o.Release.cmake:220 (message):
  Error generating
  /usr/local/src/robot/stereo-vision/build/modules/DisparityModule/sgbm_cuda/CMakeFiles/SGBM_CUDA.dir//./SGBM_CUDA_generated_costs.cu.o


make[2]: *** [modules/DisparityModule/sgbm_cuda/CMakeFiles/SGBM_CUDA.dir/build.make:79: modules/DisparityModule/sgbm_cuda/CMakeFiles/SGBM_CUDA.dir/SGBM_CUDA_generated_costs.cu.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:207: modules/DisparityModule/sgbm_cuda/CMakeFiles/SGBM_CUDA.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

[pattacini]

Hi @paliasgh

You should set COMPILE_LIB to ON when building SFM.

That said, as you realized yourself, SFM has been deprecated in favor of the new disparity module, although the transition is not fully complete yet.

@damianomal is the author of DisparityModule and my suggestion is to open up an issue at https://github.com/robotology/stereo-vision/issues asking for his help.