introlab
rtabmap with libtorch error
I use edited rtabmap in docker ubuntu 18 from https://github.com/MI-BioLab/continual-learning-regions
It adds continual learning module and need libtorch to build. I try to reproduce the experiment following the readme:
using libtorch-shared-with-deps-1.13.1 and cmake -DOpenCV_DIR=/usr/local/lib/cmake/opencv4 from the readme to install rtabmap but fails.
almost every lib cannot link.
while using libtorch with cxx11 ABI version and build successfully.
cmake -DWITH_TORCH=ON \
-DCMAKE_PREFIX_PATH=/root/SLAM/programs/rtabmap/libtorch \
-DOpenCV_DIR=/usr/local/lib/cmake/opencv4 ..
while running the launch or just run rtabmap, error: gdb result
Thread 1 "rtabmap" received signal SIGSEGV, Segmentation fault.
0x00007fff89786c1b in llvm::PMTopLevelManager::schedulePass(llvm::Pass*) ()
from /usr/lib/x86_64-linux-gnu/libLLVM-10.so.1
(gdb) bt
#0 0x00007fff89786c1b in llvm::PMTopLevelManager::schedulePass(llvm::Pass*) ()
at /usr/lib/x86_64-linux-gnu/libLLVM-10.so.1
https://github.com/MI-BioLab/continual-learning-regions/issues/1 0x00007fff8dab3bab in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#2 0x00007fff8dab3c2f in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#3 0x00007fff8db1195b in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#4 0x00007fff8db05f18 in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#5 0x00007fff8daf1750 in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#6 0x00007fff8d51ff2f in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#7 0x00007fff8d6e0a8e in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#8 0x00007fff8d5ab152 in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#9 0x00007fff8d5cd925 in () at /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so
#10 0x00007fffeffcd70a in vtkOpenGLDisplayListPainter::RenderInternal(vtkRenderer*, vtkActor*, unsigned long, bool) () at /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3
#11 0x00007fffeffc73eb in vtkOpenGLClipPlanesPainter::RenderInternal(vtkRenderer*, vtkActor*, unsigned long, bool) () at /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3
#12 0x00007ffff003294e in vtkOpenGLScalarsToColorsPainter::RenderInternal(vtkRenderer*, vtkActor*, unsigned long, bool) () at /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3
#13 0x00007ffff004c2f9 in vtkPainterPolyDataMapper::RenderPiece(vtkRenderer*, vtkActor*) ()
at /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3
#14 0x00007fffef320c41 in vtkPolyDataMapper::Render(vtkRenderer*, vtkActor*) ()
at /usr/lib/x86_64-linux-gnu/libvtkRenderingCore-6.3.so.6.3
#15 0x00007fffeffb801b in vtkOpenGLActor::Render(vtkRenderer*, vtkMapper*) ()
at /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3
#16 0x00007ffff0a75729 in vtkLODActor::Render(vtkRenderer*, vtkMapper*) ()
at /usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-6.3.so.6.3
#17 0x00007ffff0a74c0d in vtkLODActor::RenderOpaqueGeometry(vtkViewport*) ()
at /usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-6.3.so.6.3
what can i do? comply the libtorch from source?
Are you running this from the docker container? It looks like a display driver issue when launching it from docker. You may try building without libtorch to confirm it is not libtorch related. See also https://github.com/introlab/rtabmap/wiki/Installation#docker to launch with nvidia driver.
sorry for my reply late. i run this in docker container. The part related to rtabmap in dockerfile is
RUN /bin/bash -c "cd ~/ && \
git clone https://github.com/MI-BioLab/continual-learning-regions.git && \
cp -r continual-learning-regions/rtabmap ~/SLAM/programs && \
cp -r continual-learning-regions/rtabmap_ros ~/catkin_ws/src && \
rm -rf ~/continual-learning-regions"
# RUN /bin/bash -c "cd ~/SLAM/programs/rtabmap && \
# mkdir build && \
# cd build && \
# cmake -DOpenCV_DIR=/usr/local/lib/cmake/opencv4 .. && \
# make -j4 && \
# make install"
# cv_bridge rebuilded with opencv 4
RUN /bin/bash -c "cd ~/catkin_ws/src && \
git clone https://github.com/fizyr-forks/vision_opencv.git && \
cd vision_opencv && \
git checkout opencv4 && \
cd ~/catkin_ws/ && \
. /opt/ros/melodic/setup.bash && \
catkin_make -j4"
# RUN /bin/bash -c "cd ~/catkin_ws/src/rtabmap_ros && \
# . /opt/ros/melodic/setup.bash && \
# cd ~/catkin_ws && \
# catkin_make -DOpenCV_DIR=/usr/local/lib/cmake/opencv4 -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON -j4"
RUN ldconfig
it cannot build the image successfully because the rtabmap is not installed yet so i skip the cv_bridge rebuilded step and build the image and the container.
In the container, i install the recommended libtorch(shared-with-deps)1.13.1 and start to build the modified rtabmap, it cannot work. The program builds rtabmap without libtorch originally with
cd path/to/rtabmap
mkdir build
cd build
cmake -DOpenCV_DIR=/usr/local/lib/cmake/opencv4 ..
make -j4
make install
but it cannot work and pose error:
In file included from /home/axolotl/SLAM/programs/rtabmap/corelib/src/Memory.cpp:35:0:
/home/axolotl/SLAM/programs/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:62:7: note: forward declaration of ‘class rtabmap::Region’
class Region;
^~~~~~
/home/axolotl/SLAM/programs/rtabmap/corelib/src/Memory.cpp:6676:42: error: invalid use of incomplete type ‘class rtabmap::Region’
signature->setRegionId(initialRegion->id());
^~
It is obvious a modified cpp with new header and you may see the change
#ifdef RTABMAP_TORCH
#include "rtabmap/core/region/clustering/Region.h"
#include "rtabmap/core/region/ContinualLearning.h"
#endif
So I have to add and use libtorch 1.13.1(cxx11 ABI)
cmake -DWITH_TORCH=ON \
-DCMAKE_PREFIX_PATH=/root/libtorch \
-DOpenCV_DIR=/usr/local/lib/cmake/opencv4 ..
i have no idea why i have to use -DWITH_TORCH=ON
It looks like rtabmap is not built with libtorch, then this preprocessor define RTABMAP_TORCH doesn't exist and cannot include the Region definition.
The current way to know that rtabmap will build with libtorch is to look at the output of cmake:
-- --------------------------------------------
-- Info :
-- RTAB-Map Version = 0.23.2
-- CMAKE_VERSION = 3.22.1
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++17
-- FLANN_KDTREE_MEM_OPT = OFF
-- PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG
-- PCL_VERSION = 1.12.1
--
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 4.5.4 xfeatures2d = YES, nonfree = YES (License: Non commercial)
-- With Qt 5.15.3 = YES (License: Open Source or Commercial)
-- With VTK 9.1 = YES (License: BSD)
-- With external SQLite3 = YES (License: Public Domain)
-- With ORB OcTree = YES (License: GPLv3)
-- With SuperPoint = NO (WITH_TORCH=OFF) <----------------------------------------------
...
WITH_TORCH option is OFF by default, you should indeed do cmake -DWITH_TORCH=ON, then make sure it says YES there afterwards. You may have to setup the Torch_DIR like this:
https://github.com/introlab/rtabmap/blob/f44a4fc4786bd3c859a599718f42d3dee476ba8a/docker/frontiers2022/Dockerfile#L74
(adjust actual torch path with the folder containing TorchConfig.cmake)