Not able to build gpu-voxels

[jonaskubi]

Hello,

I'm having trouble installing gpu-voxels on my system. While cmake runs successfull (but with quite a lot of warnings) running make afterwards fails. Any help building the project would be much appreciated!

Here is my current environment:

• Ubuntu 20.04
• gcc/g++ 9.4.0 (also tried 7.4.0)
• make 4.2.1
• cmake 3.10.2
• CUDA 10.1
• Boost 1.42.0
• Eigen3 3.3.7
• flann 2.9.2
• TinyXML 2.6.2
• PCL 1.9.1
• GLEW 2.1.0-4
• GLM 0.9.9.7+ds-1
• FreeGLUT 2.8.1-3
• VTK 7.1.1+dfsg2-2ubuntu1

This is my cmake Output:

-- 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
-- Detected version of GNU GCC: 94 (904)
-- icmaker dir is /home/ubuntu/gpu-voxels/icmaker
CMAKE_BUILD_TYPE not set. Setting to default RelWithDebInfo.
-- 
-- Library configuration for icmaker 1.0.0 =====================================
-- 
-- Checking for libraries not found in previous checks: 
-- 
-- Boost 1.42.0 found.
-- Found Boost components:
   date_time;filesystem;graph;iostreams;system;regex;signals;unit_test_framework;thread;program_options;serialization
-- Found Boost: ... yes (Version: 1.71.0)
-- Boost 1.42.0 found.
-- Found Boost components:
   python
-- Boost 1.42.0 found.
-- Ensure you cppunit installed version is at least 1.12.0
-- Could NOT find CppUnit
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Found DL: ... yes
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.17") found components:  doxygen dot 
-- Found Eigen3: ... yes
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so  
-- Found GLUT: ... yes
-- Could not find GSL
-- Iconv: Could not find required library iconv.
-- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so  
-- LibArchive: Could not find required header file archive.h.
-- Could NOT find libwebsockets
-- Found LibXml2: /usr/lib/x86_64-linux-gnu/libxml2.so (found version "2.9.10") 
-- Found Ltdl: ... yes
-- Ncomrx: Could not find required header file NComRxC.h.
-- Newmat: Could not find required header file newmat/newmat.h.
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
-- Found OPENGL: ... yes
-- Found Pthread: ... yes
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Could NOT find Qt4 (missing: QT_QTWEBKIT_INCLUDE_DIR QT_QTWEBKIT_LIBRARY) (found suitable version "4.8.7", minimum required is "4.4.0")
-- Could NOT find all components of Qt4 - missing (one or more components): QtWebKit
-- Found Qt4: /usr/bin/qmake-qt4 (found suitable version "4.8.7", minimum required is "4.4.0") 
-- Could NOT find all components of Qt4 - missing (one or more components): Phonon
-- Could NOT find SCIP
-- Could NOT find speechd
-- Found SQLite3: ... yes
-- Found SSL: ... yes
-- Could NOT find Tcmalloc
-- Found Threads: TRUE  
-- Found TinyXML: /usr/include  
-- Could NOT find XSD
-- Found Zlib: ... yes
-- Spacenav: Could not find required header file spnav.h.
-- 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
-- Found X11: /usr/lib/x86_64-linux-gnu/libX11.so
-- === Searching Perception packages ===
-- Found OpenCV: /usr (found version "4.2.0") 
-- Found OpenCV: ... yes
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.7
-- Found Eigen: /usr/include/eigen3  
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
CMake Warning (dev) at /usr/local/share/cmake-3.10/Modules/FindBoost.cmake:1551 (find_package):
  File /usr/local/share/cmake-3.10/Modules/FindBoost.cmake includes
  /home/ubuntu/gpu-voxels/icmaker/CMakeModules/FindThreads.cmake (found via
  CMAKE_MODULE_PATH) which shadows
  /usr/local/share/cmake-3.10/Modules/FindThreads.cmake.  This may cause
  errors later on .

  Policy CMP0017 is not set: Prefer files from the CMake module directory
  when including from there.  Run "cmake --help-policy CMP0017" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.
Call Stack (most recent call first):
  icmaker/CMakeModules/FindBoost.cmake:51 (include)
  /usr/local/share/pcl-1.9/PCLConfig.cmake:138 (find_package)
  /usr/local/share/pcl-1.9/PCLConfig.cmake:308 (find_boost)
  /usr/local/share/pcl-1.9/PCLConfig.cmake:539 (find_external_library)
  icmaker/CorePackages.cmake:107 (FIND_PACKAGE)
  icmaker/IcMaker.cmake:545 (INCLUDE)
  CMakeLists.txt:6 (INCLUDE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- FLANN found (include: , lib: lz4;flann;flann_cpp)
-- FLANN found (include: , lib: lz4;flann;flann_cpp)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- Found PCL_2D: /usr/local/include/pcl-1.9  
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.9  
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so  
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so  
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so  
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so  
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so  
-- Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.so  
-- Found PCL_PEOPLE: /usr/local/lib/libpcl_people.so  
-- === Searching Parallel packages ===
CMake Warning (dev) at /usr/local/share/cmake-3.10/Modules/FindCUDA.cmake:868 (find_package):
  File /usr/local/share/cmake-3.10/Modules/FindCUDA.cmake includes
  /home/ubuntu/gpu-voxels/icmaker/CMakeModules/FindThreads.cmake (found via
  CMAKE_MODULE_PATH) which shadows
  /usr/local/share/cmake-3.10/Modules/FindThreads.cmake.  This may cause
  errors later on .

  Policy CMP0017 is not set: Prefer files from the CMake module directory
  when including from there.  Run "cmake --help-policy CMP0017" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.
Call Stack (most recent call first):
  icmaker/CorePackages.cmake:113 (FIND_PACKAGE)
  icmaker/IcMaker.cmake:545 (INCLUDE)
  CMakeLists.txt:6 (INCLUDE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found CUDA: /usr/local/cuda-10.1 (found version "10.1") 
-- Found OpenCL: /usr/local/cuda-10.1/lib64/libOpenCL.so  
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- NPP root directory: CUDA_NPP_LIBRARY_ROOT_DIR-NOTFOUND
-- Could NOT find NPP
-- === Searching Maps packages ===
-- Found GDal: ... yes
-- Marble: Could not find required header file marble/MarbleMap.h.
-- === Searching Hardware packages ===
-- Found DC1394V2: ... yes
-- Could NOT find ftd2xx
-- GPSD: Could not find required header file gps.h.
-- Could not find libfreenect 
-- please give some paths to CMake or make sure libfreenect is installed in your system
-- Found LibUSB: ... yes
-- MesaSR: Could not find required header file libMesaSR.h.
-- PeakCan: Could not find required header file libpcan.h.
-- PmdSDK2: Could not find required header file pmdsdk2.h.
-- === Searching Visualization packages ===
-- Could NOT find Coin3D (missing: COIN3D_LIBRARIES COIN3D_INCLUDE_DIRS) 
-- Could NOT find osg (missing: OSG_LIBRARY OSG_INCLUDE_DIR) 
-- === Searching Communication packages ===
-- Could NOT find KogmoRtdb
-- Could NOT find OpenSpliceDDS
-- Could NOT find SimDcxx
-- === Searching Other packages ===
-- Could NOT find CoreFoundation (missing: CoreFoundation_LIBRARIES CoreFoundation_INCLUDE_DIRS) 
-- LibDAI: Could not find required header file dai/factorgraph.h.
-- NetSNMP: Could not find required header file net-snmp/net-snmp-config.h.
-- Could NOT find PythonLibs (missing: Python_LIBRARIES Python_INCLUDE_DIRS) 
-- Found PythonInterp: /usr/bin/python (found version "3.8.10") 
-- SVM: Could not find required header file svm.h.
-- Xdo: Could not find required header file xdo.h.
-- DXFLib: Could not find required header file dl_dxf.h.
-- Found JNI: /usr/lib/jvm/default-java/lib/libjawt.so  
-- Found Perl: /usr/bin/perl (found version "5.30.0") 
-- Found PerlLibs: /usr/lib/x86_64-linux-gnu/libperl.so.5.30 (found version "5.30.0") 
-- Could NOT find SWIG (missing: SWIG_EXECUTABLE SWIG_DIR) 
-- Found ROS: ... yes
-- Found GTSAM: /home/ubuntu/gtsam/build/gtsam/libgtsam.so  
-- === Searching Deprecated packages ===
-- Eigen2: Could not find required header file Eigen/Core.
-- 
-- Documentation: 
--   Build PDF ... no
--   Doxygen HTMLs ... yes
-- 
-- Compile configuration for icmaker 1.0.0 =====================================
-- 
--     Built as dynamic libs?:        ON
--     Compiler:                      
--     C++ flags (Release):             -Wall -Wno-long-long -msse -msse2 -ffunction-sections   -O3 -DNDEBUG  -fomit-frame-pointer 
--     C++ flags (Debug):               -Wall -Wno-long-long -msse -msse2 -ffunction-sections   -g  -O0 -DDEBUG -D_DEBUG -D_IC_DEBUG_
--     C++ flags (RelWithDebInfo):      -Wall -Wno-long-long -msse -msse2 -ffunction-sections   -O2 -g -DNDEBUG  -fomit-frame-pointer 
--     Linker flags (Release):          
--     Linker flags (Debug):            
--     Linker flags (RelWithDebInfo):   
-- 
--     Build type:                    RelWithDebInfo
-- 
--     Install path:                  /home/ubuntu/gpu-voxels/export
-- 
-- ---- Scanning packages -------------------------------------------------------------
-- 
-- Info:    icl_core -- building library without support for [OpenSpliceDDS].
-- Info:    icl_core_config -- building library without support for [OpenSpliceDDS].
-- Info:    icl_core_logging -- building library without support for [Eigen2].
-- Warning: icl_core_testsuite -- not building library, missing [CppUnit].
-- Found CUDA: /usr/local/cuda-10.1 (found version "10.1") 
CMake Warning (dev) at /usr/local/share/cmake-3.10/Modules/FindBoost.cmake:1551 (find_package):
  File /usr/local/share/cmake-3.10/Modules/FindBoost.cmake includes
  /home/ubuntu/gpu-voxels/icmaker/CMakeModules/FindThreads.cmake (found via
  CMAKE_MODULE_PATH) which shadows
  /usr/local/share/cmake-3.10/Modules/FindThreads.cmake.  This may cause
  errors later on .

  Policy CMP0017 is not set: Prefer files from the CMake module directory
  when including from there.  Run "cmake --help-policy CMP0017" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.
Call Stack (most recent call first):
  icmaker/CMakeModules/FindBoost.cmake:51 (include)
  packages/gpu_voxels/CMakeLists.txt:15 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found LibRt: ... yes
-- Found Glew: /usr/lib/x86_64-linux-gnu/libGLEW.so
-- Found GLM: /usr/include  
-- GLM_INCLUDE_DIR = /usr/include
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so  
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/gpu-voxels/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py  
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/gpu-voxels/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /lib/libOpenNI.so  
-- --------------------------------------------------------------------------
-- ------------------------ GPU Voxels configuration ------------------------
--   
-- [OK]      Building GPU-Voxels. Found CUDA.
-- [OK]      Building GPU-Voxels with visualization. GLEW, GLM, OpenGL and GLUT were found.
-- [OK]      Building GPU-Voxels with ROS connections. ROS was found.
-- [OK]      Building GPU-Voxels with URDF support. urdfdom, orocos and kdl_parser and ROS-kdl were found.
-- [OK]      Building GPU-Voxels with Kinect support. OpenNI was found.
-- [OK]      Building GPU-Voxels with Octomap support. Octomap found.
-- [OK]      Building GPU-Voxels with PCL interfaces. PCL found.
--   
-- -------------------- END of GPU Voxels configuration ---------------------
-- --------------------------------------------------------------------------
CMake Warning at packages/gpu_voxels/CMakeLists.txt:163 (MESSAGE):
  Building with THRUST_DEBUG option!


ICMAKER_CUDA_CPPDEFINES: -lineinfo --maxrregcount=63  -gencode=arch=compute_35,code=[compute_35] -DTHRUST_DEBUG -Xcompiler=-Wall
-- Configuring done
CMake Warning (dev) in packages/icl_core/src/uls/CMakeLists.txt:
  Policy CMP0071 is not set: Let AUTOMOC and AUTOUIC process GENERATED files.
  Run "cmake --help-policy CMP0071" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  For compatibility, CMake is excluding the GENERATED source file(s):

    "/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/moc_UdpLoggingServer.cxx"

  from processing by AUTOMOC.  If any of the files should be processed, set
  CMP0071 to NEW.  If any of the files should not be processed, explicitly
  exclude them by setting the source file property SKIP_AUTOMOC:

    set_property(SOURCE file.h PROPERTY SKIP_AUTOMOC ON)

This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /home/ubuntu/gpu-voxels/build

This is the error that occurs when running make aufterwards:

...
[ 27%] Linking CXX executable ../../../../bin/uls
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o: in function `UdpLoggingServer::metaObject() const':
/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/uls_autogen/EWIEGA46WW/moc_UdpLoggingServer.cpp:69: multiple definition of `UdpLoggingServer::metaObject() const'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/moc_UdpLoggingServer.cxx:69: first defined here
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o:(.data.rel.ro+0x0): multiple definition of `UdpLoggingServer::staticMetaObject'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:(.data.rel.ro+0x0): first defined here
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o: in function `UdpLoggingServer::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)':
/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/uls_autogen/EWIEGA46WW/moc_UdpLoggingServer.cpp:43: multiple definition of `UdpLoggingServer::qt_static_metacall(QObject*, QMetaObject::Call, int, void**)'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/moc_UdpLoggingServer.cxx:43: first defined here
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o: in function `UdpLoggingServer::qt_metacast(char const*)':
/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/uls_autogen/EWIEGA46WW/moc_UdpLoggingServer.cpp:74: multiple definition of `UdpLoggingServer::qt_metacast(char const*)'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/moc_UdpLoggingServer.cxx:74: first defined here
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o: in function `UdpLoggingServer::qt_metacall(QMetaObject::Call, int, void**)':
/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/uls_autogen/EWIEGA46WW/moc_UdpLoggingServer.cpp:82: multiple definition of `UdpLoggingServer::qt_metacall(QMetaObject::Call, int, void**)'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:/home/ubuntu/gpu-voxels/build/packages/icl_core/src/uls/moc_UdpLoggingServer.cxx:82: first defined here
/usr/bin/ld: CMakeFiles/uls.dir/uls_autogen/mocs_compilation.cpp.o:(.data.rel.ro.local+0x0): multiple definition of `UdpLoggingServer::staticMetaObjectExtraData'; CMakeFiles/uls.dir/moc_UdpLoggingServer.cxx.o:(.data.rel.ro.local+0x0): first defined here
collect2: error: ld returned 1 exit status
make[2]: *** [packages/icl_core/src/uls/CMakeFiles/uls.dir/build.make:215: bin/uls] Error 1
make[1]: *** [CMakeFiles/Makefile2:681: packages/icl_core/src/uls/CMakeFiles/uls.dir/all] Error 2
make: *** [Makefile:141: all] Error 2