Opencv_contrib: RGBD failing to compile with OpenGL enabled

[eezstreet]

System information (version)

• OpenCV => Latest master
• Operating System / Platform => Windows 10 x64
• Compiler => Visual Studio 2017 x64

Detailed description

With OpenGL enabled and RGBD, it does not compile due to an error:

OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): error C2131: expression did not evaluate to a constant
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): note: failure was caused by a read of a variable outside its lifetime
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(234): note: see usage of 'this'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(206): note: while compiling class template member function 'void cv::dynafu::DynaFuImpl<cv::Mat>::drawScene(cv::OutputArray,cv::OutputArray)'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(526): note: see reference to function template instantiation 'void cv::dynafu::DynaFuImpl<cv::Mat>::drawScene(cv::OutputArray,cv::OutputArray)' being compiled
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(275): note: while compiling class template member function 'cv::dynafu::DynaFuImpl<cv::Mat>::~DynaFuImpl(void)'
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(291): note: see reference to class template instantiation 'cv::dynafu::DynaFuImpl<cv::Mat>' being compiled
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): error C2131: expression did not evaluate to a constant
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): note: failure was caused by a read of a variable outside its lifetime
OpenCV-Contrib\modules\rgbd\src\dynafu.cpp(235): note: see usage of 'this'

The exact code that is failing is here:

float f[params.frameSize.width*params.frameSize.height];

Steps to reproduce

Compile with OpenGL and RGBD enabled.

[LaurentBerger]

float f[params.frameSize.width*params.frameSize.height]; is it really C++ https://en.cppreference.com/w/cpp/language/array ?

[ThomasLengeling]

I also have the problem with

Severity Code Description Project File Line Suppression State
Error C2131 expression did not evaluate to a constant opencv_rgbd
```
[234] - float f[params.frameSize.widthparams.frameSize.height];
[235] - float pixels[params.frameSize.widthparams.frameSize.height][3];
````

[juxiangwu]

I also have the same problem.
Error C2131 expression did not evaluate to a constant opencv_rgbd

[minimalisticMe]

If you don't need the RGB-Depth Processing module (that's where the error occurs) and just want to compile opencv on windows, just deactivate the extra module with -DBUILD_opencv_rgbd=OFF during cmake-configure and you are good to go.

[LaurentBerger]

Problem is not easy to solve. You can use vector instaed of float[] but it does not solve problem. New problem is glext.h which is not available on windows. You can download it with khrplatform.h and then you will have link errors :

1>dynafu.obj : error LNK2019: unresolved external symbol glBindRenderbufferEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)
1>dynafu.obj : error LNK2019: unresolved external symbol glGenRenderbuffersEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)
1>dynafu.obj : error LNK2019: unresolved external symbol glRenderbufferStorageEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)
1>dynafu.obj : error LNK2019: unresolved external symbol glBindFramebufferEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)
1>dynafu.obj : error LNK2019: unresolved external symbol glGenFramebuffersEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)
1>dynafu.obj : error LNK2019: unresolved external symbol glFramebufferRenderbufferEXT referenced in function "public: __cdecl cv::dynafu::DynaFuImpl::DynaFuImpl(struct cv::dynafu::Params const &)" (??0?$DynaFuImpl@VMat@cv@@@dynafu@cv@@QEAA@AEBUParams@12@@Z)

This module is not compatible with windows and msvc. It is not available in 3.4 branch

[MGarvinNYC]

I have encountered what seems to be a related problem, when compiling under Linux.

When OPENCV_ENABLE_NONFREE is set, and OpenGL_GL_PREFERENCE is set to GLVND (newer OpenGL), the build fails, with reference to libopencv_rgbd:

../../lib/libopencv_rgbd.so.4.2.0: undefined reference to `glRenderbufferStorageEXT'
etc...

But if OpenGL_GL_PREFERENCE is set to LEGACY, there is no error.

[zuoyizhongguo]

Also have the problem：dynafu.cpp:181:26: error: 'glGenRenderbuffersEXT' was not declared in this scope glGenRenderbuffersEXT(1, &fbo_depth);

[smartnet-club]

The issue described here and here
set BUILD_opencv_rgbd=OFF for fast build fix

[alalek]

Reopening...
Fix #2679 handles Windows case only, we need similar approach for Linux platform too.

[acochrane]

Just adding the 'diff' from GArik's pull to my 4.4.0 release build appears to have fixed the issue on my Jetson nano (running linux).