Can not build ORB-SLAM2

[Masrur02]

When I run bash build_orb.sh I got several errors and renaming option for some packages of opencv keep coming

What is the issue here, how can I succesfully build the ORB-SLAM2

[jeezrick]

you seems to failed to build pangolin, did you change the code according to this ?https://github.com/stevenlovegrove/Pangolin/pull/318/files?diff=split&w=0

[Masrur02]

CMakeModules/FindFFMPEG.cmake

Is this file inside the RTG-SLAM repo? I do not find this file.

[Masrur02]

After running bash build_orb.sh , the errors keep coming. As you said I need to follow the link you provided. It seems to me that the files are under pangolin folder. So, when should I modify the code according to the fix? After the first run of bash build_orb.sh ? Because after the first run, I observe that the pangolin folder appears inside the third party folder.

So, the pipeline is

1. I clone the RTG-SLAM repo
2. Install the env
3. Run the bash build_orb.sh. During running, I got some errors and pangolin folder along with few other folders appear inside the third party folder. The bash build_orb.sh is still running and suddenly my PC got hung. It is on both RTX 2060 and RTX 4090 GPU

[Masrur02]

I have run the bash build_oeb.sh command after the modification again. Now it is giving me options like this

I need to give a response every time. Is it normal? Or still there are some issues?

[MisEty]

Is it not normal. This seems to be a version issue with some third-party libraries but we are not certain about the exact cause. We cloned the code from ORB_SLAM2-PythonBindings, encountered problems during the compilation process, and made some modifications to resolve environmental compatibility issues. We do not test it on a variety of environments but some other users are able to install this version normally (#2, #7)

We only made a few changes to the source code and did not rely on any additional libraries, so I think you can try compiling the original version of ORB_SLAM2-PythonBindings and communicate with the original author about possible environment issues. Once those are resolved, you can try to compile our version.

[smileyenot983]

I have encountered same error. Was someone able to fix this?

[ShreyaIAB]

can u clone the rep once again and try again? Thats how i fixed it

[azuryl]

I have run the bash build_oeb.sh command after the modification again. Now it is giving me options like this I need to give a response every time. Is it normal? Or still there are some issues?

you can select A(all), you will not select every time

[ttsesm]

I also have a similar issue with compiling Pangolin, does it need to be the 0.5 version?
If I use the 0.5 version that is getting downloaded in build_orb.sh I am getting errors related to ffmpeg, like those:

/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp: In function ‘std::string pangolin::FfmpegFmtToString(AVPixelFormat)’:
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: error: ‘AV_PIX_FMT_XVMC_MPEG2_MC’ was not declared in this scope
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: note: in definition of macro ‘TEST_PIX_FMT_RETURN’
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: error: ‘AV_PIX_FMT_XVMC_MPEG2_IDCT’ was not declared in this scope
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: note: in definition of macro ‘TEST_PIX_FMT_RETURN’
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: error: ‘AV_PIX_FMT_VAAPI_MOCO’ was not declared in this scope; did you mean ‘AV_PIX_FMT_VAAPI’?
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: note: in definition of macro ‘TEST_PIX_FMT_RETURN’
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;
      |                                         ^~~~~~~~~~~
/run/media/ttsesm/pose_est_rp/hotel/hotel_/3rd_party_installation_files/Pangolin/src/video/drivers/ffmpeg.cpp:49:41: error: ‘AV_PIX_FMT_VAAPI_IDCT’ was not declared in this scope; did you mean ‘AV_PIX_FMT_VAAPI’?
   49 | #  define TEST_PIX_FMT_RETURN(fmt) case AV_PIX_FMT_##fmt: return #fmt;

if I use the latest version, Pangolin compiles fine but then I am getting an error when I am trying to compile pybind. Applying the ffmpeg patch linked in the description doesn't really seem to do anything with the latest version of Pangolin ORB-SLAM2-PYBIND seems to compile fine though only pybind seems to fail for some reason 🤔

[ttsesm]

The error that I am getting if I install the latest version of Pangolin is the following:

/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:348:5: error: ‘glCopyImageSubDataNV’ was not declared in this scope
  348 |     glCopyImageSubDataNV(tex.tid, GL_TEXTURE_2D, 0, 0, 0, 0,
      |     ^~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In member function ‘void pangolin::GlRenderBuffer::Reinitialise(GLint, GLint, GLint)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:522:9: error: ‘glDeleteRenderbuffersEXT’ was not declared in this scope
  522 |         glDeleteRenderbuffersEXT(1, &rbid);
      |         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:527:5: error: ‘glGenRenderbuffers’ was not declared in this scope; did you mean ‘GlRenderBuffer’?
  527 |     glGenRenderbuffers(1, &rbid);
      |     ^~~~~~~~~~~~~~~~~~
      |     GlRenderBuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:528:5: error: ‘glBindRenderbuffer’ was not declared in this scope; did you mean ‘GlRenderBuffer’?
  528 |     glBindRenderbuffer(GL_RENDERBUFFER_EXT, rbid);
      |     ^~~~~~~~~~~~~~~~~~
      |     GlRenderBuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:529:5: error: ‘glRenderbufferStorage’ was not declared in this scope
  529 |     glRenderbufferStorage(GL_RENDERBUFFER_EXT, internal_format, width, height);
      |     ^~~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In destructor ‘pangolin::GlRenderBuffer::~GlRenderBuffer()’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:536:9: error: ‘glDeleteRenderbuffers’ was not declared in this scope
  536 |         glDeleteRenderbuffers(1, &rbid);
      |         ^~~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In destructor ‘pangolin::GlFramebuffer::~GlFramebuffer()’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:585:9: error: ‘glDeleteFramebuffers’ was not declared in this scope
  585 |         glDeleteFramebuffers(1, &fbid);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In constructor ‘pangolin::GlFramebuffer::GlFramebuffer(pangolin::GlTexture&)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:592:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  592 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In constructor ‘pangolin::GlFramebuffer::GlFramebuffer(pangolin::GlTexture&, pangolin::GlRenderBuffer&)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:600:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  600 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In constructor ‘pangolin::GlFramebuffer::GlFramebuffer(pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlRenderBuffer&)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:609:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  609 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In constructor ‘pangolin::GlFramebuffer::GlFramebuffer(pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlRenderBuffer&)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:619:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  619 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In constructor ‘pangolin::GlFramebuffer::GlFramebuffer(pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlTexture&, pangolin::GlRenderBuffer&)’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:630:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  630 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In member function ‘void pangolin::GlFramebuffer::Bind() const’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:641:5: error: ‘glBindFramebuffer’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  641 |     glBindFramebuffer(GL_FRAMEBUFFER_EXT, fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:642:5: error: ‘glDrawBuffers’ was not declared in this scope; did you mean ‘glDrawBuffer’?
  642 |     glDrawBuffers( attachments, attachment_buffers );
      |     ^~~~~~~~~~~~~
      |     glDrawBuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In member function ‘void pangolin::GlFramebuffer::Reinitialise()’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:648:9: error: ‘glDeleteFramebuffers’ was not declared in this scope
  648 |         glDeleteFramebuffers(1, &fbid);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:650:5: error: ‘glGenFramebuffers’ was not declared in this scope; did you mean ‘GlFramebuffer’?
  650 |     glGenFramebuffers(1, &fbid);
      |     ^~~~~~~~~~~~~~~~~
      |     GlFramebuffer
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp: In member function ‘void pangolin::GlFramebuffer::Unbind() const’:
/home/ttsesm/Development/RTG-SLAM/thirdParty/install/include/pangolin/gl/gl.hpp:655:5: error: ‘glDrawBuffers’ was not declared in this scope; did you mean ‘glDrawBuffer’?
  655 |     glDrawBuffers( 1, attachment_buffers );
      |     ^~~~~~~~~~~~~

And this comes up when I try to compile the pybind.