Use COLMAP as static library

anhdu...@gmail.com

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May 4, 2018, 4:03:32 AM5/4/18

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Hello, I am trying to use some of the functions in base/database.h to get the features and matching pairs performed by COLMAP.

I created a CMake project and link to static library "libbase.a" but it seems it is impossible because it requires a lot of dependencies. Anyone knows how to deal with that problem? I spent a whole day but got nothing.

Thank you for your help.

Johannes Schönberger

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May 4, 2018, 4:13:59 AM5/4/18

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You should link against libcolmap.a.

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anhdu...@gmail.com

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May 4, 2018, 5:11:45 AM5/4/18

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Thanks for very quick reply. I followed the instruction here: https://colmap.github.io/install.html in order to build COLMAP from source for Linux, but I cannot find the location of libcolmap.a (I used "locate -i libcolmap.a but unable to find the its location)

Can you please guide me how to compile the libcolmap.a?

Thank you for your help!

On Friday, May 4, 2018 at 5:43:59 PM UTC+9:30, Johannes Schönberger wrote:

You should link against libcolmap.a.

From: <col...@googlegroups.com> on behalf of <anhdu...@gmail.com>
Reply-To: <col...@googlegroups.com>
Date: Friday, May 4, 2018 at 10:03 AM
To: COLMAP <col...@googlegroups.com>
Subject: [COLMAP] Use COLMAP as static library

Hello, I am trying to use some of the functions in base/database.h to get the features and matching pairs performed by COLMAP.

I created a CMake project and link to static library "libbase.a" but it seems it is impossible because it requires a lot of dependencies. Anyone knows how to deal with that problem? I spent a whole day but got nothing.

Thank you for your help.

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Johannes Schönberger

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May 5, 2018, 9:16:18 AM5/5/18

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I actually don’t compile a static library at the moment, but this could be changed in the future. I will add a new target or option in CMake to do so.

Cheers,

Johannes

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Johannes Schönberger

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May 24, 2018, 8:12:36 AM5/24/18

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This feature is now implemented in the latest commit in the dev branch, see https://github.com/colmap/colmap/issues/360

Message has been deleted

anhdu...@gmail.com

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Jun 20, 2018, 10:48:56 PM6/20/18

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This thread is quite long, so thanks for your patience to read all about it

I tried to download the latest commit of COLMAP, build and install it. I followed your guide here: https://colmap.github.io/install.html#library

I compiled test.cc and got the error:

In file included from /usr/local/include/colmap/util/option_manager.h:39:0,
                 from /home/dzungdoan/DzungDoan/codes/COLMAP-test/test.cc:4:
/usr/local/share/colmap/../../include/colmap/util/logging.h: In function ‘bool colmap::__CheckOptionOpImpl(const char*, int, bool, const T1&, const T2&, const char*, const char*, const char*)’:
/usr/local/share/colmap/../../include/colmap/util/logging.h:84:49: error: ‘to_string’ is not a member of ‘std’
                               op_str, val2_str, std::to_string(val1).c_str(),
                                                 ^
/usr/local/share/colmap/../../include/colmap/util/logging.h:85:31: error: ‘to_string’ is not a member of ‘std’
                               std::to_string(val2).c_str())
                               ^
In file included from /home/dzungdoan/DzungDoan/codes/COLMAP-test/test.cc:4:0:
/usr/local/include/colmap/util/option_manager.h: At global scope:
/usr/local/include/colmap/util/option_manager.h:115:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<std::string> project_path;
        ^
/usr/local/include/colmap/util/option_manager.h:116:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<std::string> database_path;
        ^
/usr/local/include/colmap/util/option_manager.h:117:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<std::string> image_path;
        ^
/usr/local/include/colmap/util/option_manager.h:119:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<ImageReaderOptions> image_reader;
        ^
/usr/local/include/colmap/util/option_manager.h:120:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<SiftExtractionOptions> sift_extraction;
        ^
/usr/local/include/colmap/util/option_manager.h:122:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<SiftMatchingOptions> sift_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:123:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<ExhaustiveMatchingOptions> exhaustive_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:124:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<SequentialMatchingOptions> sequential_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:125:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<VocabTreeMatchingOptions> vocab_tree_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:126:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<SpatialMatchingOptions> spatial_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:127:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<TransitiveMatchingOptions> transitive_matching;
        ^
/usr/local/include/colmap/util/option_manager.h:129:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<BundleAdjustmentOptions> bundle_adjustment;
        ^
/usr/local/include/colmap/util/option_manager.h:130:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<IncrementalMapperOptions> mapper;
        ^
/usr/local/include/colmap/util/option_manager.h:132:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<mvs::PatchMatchOptions> dense_stereo;
        ^
/usr/local/include/colmap/util/option_manager.h:133:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<mvs::StereoFusionOptions> dense_fusion;

^
Then, I add

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

to the CMakeLists.txt, then the compilation was succesfull.

However, I got another error (it seems it is the linking error) as follows:

[ 50%] Building CXX object CMakeFiles/test.dir/test.cc.o
[100%] Linking CXX executable test
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `__device_stub__ZN3pba20jte_point_vec_kernelILi2ELi2EEEviiPf(int, int, float*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x1d): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x40): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x56): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x66): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):
 In function 
`__device_stub__ZN3pba20jte_point_vec_kernelILi2ELi1EEEviiPf(int, int, 
float*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x8d): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0xb0): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0xc6): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0xd6): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `__device_stub__ZN3pba23jtjd_point_block_kernelILi2EEEviiffP6float4S2_(int, int, float, float, float4*, float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x10e): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x130): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x148): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x160): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x178): undefined reference to `cudaSetupArgument'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x18e):
 more undefined references to `cudaSetupArgument' follow
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):
 In function 
`__device_stub__ZN3pba23jtjd_point_block_kernelILi2EEEviiffP6float4S2_(int,
 int, float, float, float4*, float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x19e): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `__device_stub__ZN3pba23jtjd_point_block_kernelILi1EEEviiffP6float4S2_(int, int, float, float, float4*, float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x1de): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x200): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x218): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x230): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x248): undefined reference to `cudaSetupArgument'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x25e):
 more undefined references to `cudaSetupArgument' follow
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):
 In function 
`__device_stub__ZN3pba23jtjd_point_block_kernelILi1EEEviiffP6float4S2_(int,
 int, float, float, float4*, float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x26e): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `__device_stub__ZN3pba28jtjd_cam_block_invert_kernelILi8EEEviP6float4(int, float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x299): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x2be): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x2ce): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o):
 In function 
`__device_stub__ZN3pba28jtjd_cam_block_invert_kernelILi7EEEviP6float4(int,
 float4*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x2f9): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x31e): undefined reference to `cudaSetupArgument'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x32e): undefined reference to `cudaLaunch'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `pba::ProgramCU::CheckErrorCUDA(char const*)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x3a8): undefined reference to `cudaGetLastError'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x3e2): undefined reference to `cudaGetErrorString'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `pba::ProgramCU::ResetCurrentDevice()':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x462): undefined reference to `cudaGetDevice'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x467): undefined reference to `cudaDeviceReset'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x474): undefined reference to `cudaSetDevice'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `pba::ProgramCU::GetCudaMemoryCap()':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x4c0): undefined reference to `cudaGetDevice'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x4f2): undefined reference to `cudaGetDeviceProperties'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `pba::ProgramCU::SetCudaDevice(int)':
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x54c): undefined reference to `cudaGetDeviceCount'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x57a): undefined reference to `cudaGetDevice'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x5e3): undefined reference to `cudaSetDevice'
tmpxft_00001371_00000000-5_ProgramCU.cudafe1.cpp:(.text+0x608): undefined reference to `cudaGetDeviceProperties'
/usr/local/share/colmap/../../lib/colmap/libpba.a(pba_generated_ProgramCU.cu.o): In function `pba::ProgramCU::ComputeJacobian(pba::CuTexImage&,
 pba::CuTexImage&, pba::CuTexImage&, pba::CuTexImage&, 
pba::CuTexImage&, pba::CuTexImage&, pba::CuTexImage&, 
pba::CuTexImage&, bool, int, bool)':


Here is the result I got when doing cmake ..

-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   program_options
--   filesystem
--   regex
--   system
--   unit_test_framework
-- Found Eigen
--   Includes : /usr/include/eigen3
-- Found FreeImage
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libfreeimage.so
-- Found Glog
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libglog.so
-- Found Glew
--   Includes : /usr/include
--   Libraries : /usr/lib/x86_64-linux-gnu/libGLEW.so
CMake Warning (dev) at CMakeLists.txt:11 (add_executable):
  Policy CMP0037 is not set: Target names should not be reserved and should
  match a validity pattern.  Run "cmake --help-policy CMP0037" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.

  The target name "test" is reserved or not valid for certain CMake features,
  such as generator expressions, and may result in undefined behavior.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring done
-- Generating done


Could you please help me with my error? Thank you very much for your assistance

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Johannes Schönberger

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Jun 21, 2018, 9:46:02 AM6/21/18

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Seems like you are not linking against CUDA, I will check the test.cc on a CUDA machine later. Thanks for the report.

To view this discussion on the web visit https://groups.google.com/d/msgid/colmap/527f6dbf-c100-497d-96d2-d682709f7ad1%40googlegroups.com.

Johannes Schönberger

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Jun 21, 2018, 10:55:32 AM6/21/18

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Hi,

This should be fixed now with the latest commit in the dev branch: https://github.com/colmap/colmap/commit/f03d165bd9503ebedacfdd5f6c2f541faa692cb1

Thanks again and let me know if this works for you.

Cheers, Johannes

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anhdu...@gmail.com

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Jun 21, 2018, 9:05:39 PM6/21/18

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Hello, it works now, thank you very much :)

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