Hello,
I am in the process of upgrading MIT’s LabelFusion, an open-source RGBD data annotation tool for use in Ubuntu 22.04. It uses their in-house Direction app that used to use VTK <=4.8.
Since Ubuntu 22.04 comes equipped with Python 3.10 that supports VTK 9.3, I have built it successfully from source. Additionally my machine has QT5 installed from official binaries.
However, when building the Director app, I am running into the fatal error. Specifically it is generated from their DRCFilters.
CMake Error at /usr/local/lib/cmake/vtk-9.3/vtkModule.cmake:2220 (message):
The `MODULE_DESTINATION` must not be an absolute path. Use
`CMAKE_INSTALL_PREFIX` to keep everything in a single installation prefix.
Call Stack (most recent call first):
/usr/local/lib/cmake/vtk-9.3/vtkModuleWrapPython.cmake:875 (_vtk_module_check_destinations)
cmake/wrap-python.cmake:47 (vtk_module_wrap_python)
src/vtk/DRCFilters/CMakeLists.txt:227 (wrap_python)
The closest discussion I found to this error is here: cmake error with vtkModule.cmake where the discussion did not lead to a solution to this problem. Note, at that time, they too were using VTK 9.3
How do I go about solving this problem?
warp-python.cmake
# Needs to be manually set
set(VTK_CMAKE_DIR "${VTK_DIR}") # VTK_DIR points to its lib/cmake/vtk-9.3 file
#message(STATUS "VTK_DIR: ${VTK_DIR}")
#message(STATUS "VTK_CMAKE_DIR: ${VTK_DIR}")
if(NOT DEFINED VTK_CMAKE_DIR)
message(SEND_ERROR "VTK_CMAKE_DIR is not defined, cannot load vtkWrapPython.cmake")
endif()
if(NOT VTK_WRAP_PYTHON)
message(FATAL_ERROR "VTK was built without Python enabled (VTK_WRAP_PYTHON=FALSE).")
endif()
#include(${VTK_CMAKE_DIR}/vtkWrapPython.cmake) # VTK==7.1.1
include(${VTK_CMAKE_DIR}/vtkModuleWrapPython.cmake) # VTK>=8.9
function(wrap_python library_name sources)
# Set the Python site-packages suffix for the wrapping
set(VTK_PYTHON_SITE_PACKAGES_SUFFIX "lib/site-packages")
vtk_module_wrap_python(
MODULES ${library_name}
TARGET ${library_name}Python
WRAPPED_MODULES generated_python_sources
INSTALL_HEADERS OFF
PYTHON_PACKAGE "vtkmodules"
# CMAKE_DESTINATION ${VTK_PYTHON_SITE_PACKAGES_SUFFIX}
)
add_library(${library_name}PythonD ${generated_python_sources})
add_library(${library_name}Python MODULE ${library_name}PythonInit.cxx)
target_link_libraries(${library_name}PythonD ${library_name})
foreach(c ${VTK_LIBRARIES})
target_link_libraries(${library_name}PythonD ${c}PythonD)
endforeach(c)
target_link_libraries(${library_name}Python ${library_name}PythonD)
set_target_properties(${library_name}Python PROPERTIES PREFIX "")
if(WIN32 AND NOT CYGWIN)
set_target_properties(${library_name}Python PROPERTIES SUFFIX ".pyd")
endif(WIN32 AND NOT CYGWIN)
install(TARGETS ${library_name}Python DESTINATION ${DD_INSTALL_PYTHON_DIR}/director)
install(TARGETS ${library_name}PythonD DESTINATION ${DD_INSTALL_LIB_DIR})
endfunction()
Cmake for the DRCFilters
# Cmake for DRCFilters library
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${CMAKE_CURRENT_BINARY_DIR})
find_package(OpenGL REQUIRED)
find_package(VTK REQUIRED) # VTK should be found out here
find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
set(sources
vtkDepthImageUtils.cxx
vtkGridSource.cxx
vtkFrameWidget.cxx
vtkFrameWidgetRepresentation.cxx
vtkInteractorStyleTerrain2.cxx
vtkPickCenteredInteractorStyle.cxx
)
set(headers
vtkDepthImageUtils.h
vtkDRCFiltersModule.h
vtkFrameWidget.h
vtkFrameWidgetRepresentation.h
vtkGridSource.h
vtkInteractorStyleTerrain2.h
vtkPickCenteredInteractorStyle.h
)
# extra source files to compile but do not python wrap
set(EXTRA_SRCS
)
#####
option(USE_EDL_SHADERS OFF)
if(USE_EDL_SHADERS)
set(GLSL_RESOURCES_DIR
edl_resources/Shaders
)
set(GLSL_SRCS
edl_compose
edl_shade
bilateral_filter
depth_compose
)
# -----------------------------------------------------------------------------
# Create custom commands to encode each glsl file into a C string literal
# in a header file
# -----------------------------------------------------------------------------
if(NOT TARGET vtkEncodeString)
message(SEND_ERROR "The required vtkEncodeString executable was not found.\nThis may indicate an error in your VTK install or configuration.")
endif()
foreach(file ${GLSL_SRCS})
set(src ${CMAKE_CURRENT_SOURCE_DIR}/${GLSL_RESOURCES_DIR}/${file}.glsl)
set(res ${CMAKE_CURRENT_BINARY_DIR}/${file}.cxx)
add_custom_command(
OUTPUT ${res}
DEPENDS ${src}
COMMAND vtkEncodeString
ARGS ${res} ${src} ${file}
)
set(EXTRA_SRCS ${EXTRA_SRCS} ${res})
endforeach(file)
endif()
#####
set(VTK_LIBRARIES
vtkInteractionWidgets
vtkInteractionStyle
vtkRenderingFreeType
vtkRenderingCore
vtkRendering${VTK_RENDERING_BACKEND}
vtkFiltersExtraction
vtkFiltersCore
vtkCommonCore
)
set(deps
${VTK_LIBRARIES}
${OPENGL_LIBRARIES}
)
set(pkg_deps)
if (USE_DRC)
# requires libbot, lcm, eigen, drc lcmtypes
find_package(LibBot REQUIRED MODULE)
include_directories(${LIBBOT_INCLUDE_DIRS})
find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
find_package(LCM REQUIRED)
include_directories(${LCM_INCLUDE_DIRS})
list(APPEND sources
vtkMultisenseSource.cxx
vtkLidarSource.cxx
)
list(APPEND headers
vtkMultisenseSource.h
vtkMultisenseUtils.h
vtkLidarSource.h
)
list(APPEND deps
${LIBBOT_LIBRARIES}
${LCM_LIBRARIES}
)
list(APPEND pkg_deps
drc-lcmtypes lcmtypes_maps
)
endif()
if (USE_DRC_MAPS)
find_package(Maps REQUIRED)
find_package(PCL REQUIRED)
list(APPEND sources vtkMapServerSource.cxx)
list(APPEND headers vtkMapServerSource.h)
include_directories(${PCL_INCLUDE_DIRS})
include_directories(${MAPS_INCLUDE_DIRS})
list(APPEND deps ${MAPS_LIBRARIES} ${PCL_LIBRARIES})
endif()
if (USE_DRC_PLANE_SEG)
find_package(PlaneSeg REQUIRED)
find_package(PCL REQUIRED)
list(APPEND sources
vtkPlaneSegmentation.cxx
vtkRobustNormalEstimator.cxx
vtkSurfaceFitter.cxx
)
list(APPEND headers
vtkPlaneSegmentation.h
vtkRobustNormalEstimator.h
vtkSurfaceFitter.h
)
include_directories(${PLANE_SEG_INCLUDE_DIRS})
include_directories(${PCL_INCLUDE_DIRS})
list(APPEND deps ${PLANE_SEG_LIBRARIES} ${PCL_LIBRARIES})
endif()
if(USE_LCMGL)
find_package(LibBot REQUIRED MODULE)
include_directories(${LIBBOT_INCLUDE_DIRS})
list(APPEND sources vtkLCMGLProp.cxx)
list(APPEND headers vtkLCMGLProp.h)
list(APPEND deps ${LIBBOT_LIBRARIES} ${OPENGL_LIBRARIES})
endif()
if(USE_OCTOMAP)
setup_qt4()
find_library(OCTOVIS_LIBRARY octovis)
list(APPEND sources vtkOctomap.cxx)
list(APPEND headers vtkOctomap.h)
list(APPEND deps ${LIBBOT_LIBRARIES} ${OPENGL_LIBRARIES} ${OCTOVIS_LIBRARY})
list(APPEND pkg_deps
lcmtypes_octomap-utils
)
endif()
if (USE_COLLECTIONS)
list(APPEND sources vtkCollections.cxx)
list(APPEND headers vtkCollections.h)
list(APPEND deps ${OPENGL_LIBRARIES})
list(APPEND pkg_deps
lcmtypes_visualization
)
endif()
set(library_name vtkDRCFilters)
add_library(${library_name} ${sources} ${EXTRA_SRCS})
target_link_libraries(${library_name} ${deps})
if(pkg_deps)
use_pkg(${library_name} ${pkg_deps})
endif()
install(TARGETS ${library_name}
EXPORT ${DD_TARGETS_NAME}
RUNTIME DESTINATION ${DD_INSTALL_BIN_DIR}
LIBRARY DESTINATION ${DD_INSTALL_LIB_DIR}
ARCHIVE DESTINATION ${DD_INSTALL_LIB_DIR})
if(NOT VTK_WRAP_PYTHON)
message(FATAL_ERROR "VTK was compiled without Python support. "
"VTK_WRAP_PYTHON is OFF. You must use a version of VTK with Python. "
"VTK_DIR is: ${VTK_DIR}")
endif()
include_directories(${PYTHON_INCLUDE_DIR})
# VTK_CMAKE_DIR is not found here
include(${CMAKE_SOURCE_DIR}/cmake/wrap-python.cmake)
add_custom_target(${library_name}Hierarchy)
#wrap_python(${library_name} "${sources}") # "${sources}" may be interpreted as one string
wrap_python(${library_name} ${sources}) #! ERROR OCCURS HERE
set_target_properties(${library_name}Python
PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${DD_INSTALL_PYTHON_DIR}/director")
target_link_libraries(${library_name}Python ${PYTHON_LIBRARIES})
target_link_libraries(${library_name}PythonD ${PYTHON_LIBRARIES})
install_headers(${headers})