voxel async vis by opengl

this module is used to display OCC voxel information on autodrive

before start

ffmpeg must to be installed!

3rdparty

• opengl==4.6.0
• glm==1.0.1
• glfw3==3.4.0
• glad==2.0.8
• imgui==1.91.5

All 3rd party libraries should be located in ./3rdparty

For glad, please set CMakeLists.txt in its source directory

cmake_minimum_required(VERSION 3.22)
project(glad)

add_library(glad STATIC include/glad/glad.h src/glad.c)
target_include_directories(glad PUBLIC include)

venv

• python >=3.8
• numpy >=1.26.1
• pybind11 >=2.13.6
• pybind11_stubgen

virtualvenv should be located in ./.venv

some issue and solution

if you find some issue when you run the version of python like this:

libGL error: MESA-LOADER: failed to open swrast: /lib/x86_64-linux-gnu/libLLVM-12.so.1: undefined symbol: ffi_type_sint32, version LIBFFI_BASE_7.0 (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
glfw error 65543: GLX: Failed to create context: GLXBadFBConfig
can not create window

you can solve this problem by:

sudo ln -s /usr/lib/x86_64-linux-gnu/dri/radeonsi_dri.so /usr/lib/dri/
sudo ln -s /usr/lib/x86_64-linux-gnu/dri/swrast_dri.so /usr/lib/dri/

or

conda install -c conda-forge gcc

And maybe you will find this problem:

libGL error: MESA-LOADER: failed to open swrast: /lib/x86_64-linux-gnu/libLLVM-12.so.1: undefined symbol: ffi_type_sint32, version LIBFFI_BASE_7.0 (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
libGL error: failed to load driver: swrast
glfw error 65543: GLX: Failed to create context: GLXBadFBConfig
can not create window

a simple method is:

export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libffi.so.7