3D map is not loading (jetson nano) #427
Comments
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Very strange, even with nothing running, the 3D Map view should be black with an OpenGL rendering view. The OpenGL renderer is not showing, not sure if it is a VTK/Qt problem. I have a nano on my desk I didn't have time to test with yet, I'll try it soon. |
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Ok, thank you for the info. Keep me updated! |
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I've found a way to make it working. We can replace the vtk libraries that are related to Qt5 by the ones built with from source with Qt4. Here the full walk-through:
$ sudo apt install ros-melodic-rtabmap-ros
$ sudo apt remove ros-melodic-rtabmap
cd ~
cd git clone https://github.com/Kitware/VTK.git
cd VTK
git checkout v6.3.0
mkdir build
cd build
cmake -DVTK_Group_Qt=ON -DVTK_QT_VERSION=4 -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release ..
sudo rm /usr/lib/aarch64-linux-gnu/libvtkGUISupportQt*
sudo rm /usr/lib/aarch64-linux-gnu/libvtkRenderingQt*
sudo rm /usr/lib/aarch64-linux-gnu/libvtkViewsQt*
sudo rm /usr/lib/cmake/vtk-6.3/Modules/vtkGUISupportQtWebkit.cmake
# if built from source
cd ~/VTK/build/lib
# if using precompiled binaries download above
cd ~/Downloads/vtk6.3.0-arm64-qt4-libs
sudo cp libvtkGUISupportQt* /usr/lib/aarch64-linux-gnu/.
sudo cp libvtkRenderingQt* /usr/lib/aarch64-linux-gnu/.
sudo cp libvtkGUISupportQtSQL* /usr/lib/aarch64-linux-gnu/.
sudo cp libvtkViewsQt* /usr/lib/aarch64-linux-gnu/.
sudo cp vtkGUISupportQt.cmake /usr/lib/cmake/vtk-6.3/Modules/.
sudo cp vtkGUISupportQtOpenGL.cmake /usr/lib/cmake/vtk-6.3/Modules/.
sudo cp vtkGUISupportQtSQL.cmake /usr/lib/cmake/vtk-6.3/Modules/.
sudo cp vtkRenderingQt.cmake /usr/lib/cmake/vtk-6.3/Modules/.
sudo cp vtkViewsQt.cmake /usr/lib/cmake/vtk-6.3/Modules/.
cd /usr/lib/aarch64-linux-gnu
sudo ln -s libvtkGUISupportQtOpenGL-6.3.so.1 libvtkGUISupportQtOpenGL-6.3.so.6.3.0
sudo ln -s libvtkGUISupportQt-6.3.so.1 libvtkGUISupportQt-6.3.so.6.3.0
sudo ln -s libvtkRenderingQt-6.3.so.1 libvtkRenderingQt-6.3.so.6.3.0
sudo ln -s libvtkGUISupportQtSQL-6.3.so.1 libvtkGUISupportQtSQL-6.3.so.6.3.0
sudo ln -s libvtkViewsQt-6.3.so.1 libvtkViewsQt-6.3.so.6.3.0
sudo ln -s libvtkInteractionStyle-6.3.so.6.3.0 libvtkInteractionStyle-6.3.so.1
sudo ln -s libvtkRenderingOpenGL-6.3.so.6.3.0 libvtkRenderingOpenGL-6.3.so.1
sudo ln -s libvtkRenderingCore-6.3.so.6.3.0 libvtkRenderingCore-6.3.so.1
sudo ln -s libvtkFiltersExtraction-6.3.so.6.3.0 libvtkFiltersExtraction-6.3.so.1
sudo ln -s libvtkCommonDataModel-6.3.so.6.3.0 libvtkCommonDataModel-6.3.so.1
sudo ln -s libvtkCommonCore-6.3.so.6.3.0 libvtkCommonCore-6.3.so.1
cd ~
git clone https://github.com/introlab/rtabmap.git
cd rtabmap/build
cmake -DRTABMAP_QT_VERSION=4 ..
makeNOTES:
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Hello Matthieu or anyone who could help me, I can't build VTK from source (i have errors when i do cmake) , so i've had downloaded your files, and made up a VTK cmake Errors~/VTK/build$ cmake -DVTK_Group_Qt=ON -DVTK_QT_VERSION=4 -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release ..
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- 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
-- Performing Test HAVE_GCC_ERROR_RETURN_TYPE
-- Performing Test HAVE_GCC_ERROR_RETURN_TYPE - Success
-- Performing Test HAVE_GCC_VISIBILITY
-- Performing Test HAVE_GCC_VISIBILITY - Success
CMake Error at CMake/vtkCompilerExtras.cmake:47 (if):
if given arguments:
"cc: error: ARGS: No such file or directory
cc (Ubuntu/Linaro 7.4.0-1ubuntu1~18.04.1) 7.4.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software" " see the source for copying conditions. There is
NO
warranty" " not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.
" "VERSION_GREATER" "4.2.0" "AND" "BUILD_SHARED_LIBS" "AND"
"HAVE_GCC_VISIBILITY" "AND" "VTK_USE_GCC_VISIBILITY" "AND" "NOT" "MINGW"
"AND" "NOT" "CYGWIN"
Unknown arguments specified
Call Stack (most recent call first):
CMakeLists.txt:283 (include)
-- Configuring incomplete, errors occurred!
See also "/home/supergitan/VTK/build/CMakeFiles/CMakeOutput.log".
i removed every reference to Qt5 using gedit, it seems to have issue with attached metadata. after building and installing Rtabmap (which was fine, i did not have more compilation errors than usual) , i can't run rtabmap by running |
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Just to run rtabmap from cd rtabmap/bin
./rtabmap |
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I have done the procedure again on a freshly flashed Sd, to be sure nothing is interfering with the result. cd rtabmap/bin
./rtabmapi have the following error: . rtabmap-console
.. rtabmap-detectMoreLoopClosures
data rtabmap-euroc_dataset
.gitignore rtabmap-extractObject
librtabmap_core.so rtabmap-imagesJoiner
librtabmap_core.so.0.19 rtabmap-kitti_dataset
librtabmap_core.so.0.19.5 rtabmap-recovery
librtabmap_utilite.so rtabmap-reprocess
librtabmap_utilite.so.0.19 rtabmap-res_tool
librtabmap_utilite.so.0.19.5 rtabmap-res_tool-0.3.0
rtabmap-bow_mapping rtabmap-rgbd_dataset
rtabmap-camera rtabmap-stereoEvali have archived the cmake make and install text from shell, in case it could be useful. I guess i have missed something on Part6:
plus, when installing/desinstalling Cmakesupergitan@supergitan-cuivre:~/rtabmap/build$ cmake -DRTABMAP_QT_VERSION=4 -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2 ..
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- 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
CMake Deprecation Warning at CMakeLists.txt:64 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- Checking for module 'eigen3'
-- Found eigen3, version 3.3.4
-- Found eigen: /usr/include/eigen3
-- Checking for module 'libopenni'
-- Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so
-- The imported target "vtkGUISupportQtWebkit" references the file
"/usr/lib/aarch64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0"
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-6.3/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingQtTCL" references the file
"/usr/lib/aarch64-linux-gnu/libvtkRenderingQtTCL-6.3.so.6.3.0"
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-6.3/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/aarch64-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-6.3/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-6.3/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingQtPythonD" references the file
"/usr/lib/aarch64-linux-gnu/libvtkRenderingQtPython27D-6.3.so.6.3.0"
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-6.3/VTKTargets.cmake"
but not all the files it references.
-- Found libusb-1.0: /usr/include
-- Checking for module 'flann'
-- Found flann, version 1.9.1
-- Found Flann: /usr/lib/aarch64-linux-gnu/libflann_cpp_s.a
-- Found qhull: /usr/lib/aarch64-linux-gnu/libqhull.so
-- Found PCL_COMMON: /usr/lib/aarch64-linux-gnu/libpcl_common.so
-- Found PCL_OCTREE: /usr/lib/aarch64-linux-gnu/libpcl_octree.so
-- Found PCL_IO: /usr/lib/aarch64-linux-gnu/libpcl_io.so
-- Found PCL_KDTREE: /usr/lib/aarch64-linux-gnu/libpcl_kdtree.so
-- Found PCL_SEARCH: /usr/lib/aarch64-linux-gnu/libpcl_search.so
-- Found PCL_SURFACE: /usr/lib/aarch64-linux-gnu/libpcl_surface.so
-- Found PCL_FILTERS: /usr/lib/aarch64-linux-gnu/libpcl_filters.so
-- Found PCL_2D: /usr/include/pcl-1.8
-- Found PCL_FEATURES: /usr/lib/aarch64-linux-gnu/libpcl_features.so
-- Found PCL_REGISTRATION: /usr/lib/aarch64-linux-gnu/libpcl_registration.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/aarch64-linux-gnu/libpcl_sample_consensus.so
-- Found PCL_GEOMETRY: /usr/include/pcl-1.8
-- Found PCL_ML: /usr/lib/aarch64-linux-gnu/libpcl_ml.so
-- Found PCL_SEGMENTATION: /usr/lib/aarch64-linux-gnu/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/lib/aarch64-linux-gnu/libpcl_visualization.so
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/aarch64-linux-gnu/libsqlite3.so
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Found OpenMP
-- Found OpenCV: /usr/include;/usr/include/opencv
-- Found PCL: /usr/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.3;/usr/include/freetype2;/usr/lib/aarch64-linux-gnu/openmpi/include/openmpi;/usr/lib/aarch64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent;/usr/lib/aarch64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include;/usr/lib/aarch64-linux-gnu/openmpi/include;/usr/include/python2.7;/usr/include/aarch64-linux-gnu;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/jsoncpp;/usr/include/tcl
-- Found ZLIB: /usr/include
qmake: could not exec '/usr/lib/aarch64-linux-gnu/qt4/bin/qmake': No such file or directory
-- Found unsuitable Qt version "" from NOTFOUND
-- Found Freenect: /usr/include
-- Found freenect2: /home/supergitan/freenect2/include
-- Found OpenNI2: /usr/include/openni2
-- Found CSPARSE: /usr/include/suitesparse
CMake Warning at cmake_modules/FindG2O.cmake:122 (MESSAGE):
Latest g2o version detected with c++11 interface (config file:
/opt/ros/melodic/include/g2o/config.h). Make sure g2o is built with
"-DBUILD_WITH_MARCH_NATIVE=OFF" to avoid segmentation faults caused by
Eigen.
Call Stack (most recent call first):
CMakeLists.txt:367 (FIND_PACKAGE)
-- Found g2o: /opt/ros/melodic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found octomap 1.9.0: /opt/ros/melodic/include
-- Architecture: aarch64
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Found Pthreads
CMake Warning at CMakeLists.txt:808 (MESSAGE):
Qt not found, the GUI lib and the stand-alone application will not be
compiled...
CMake Deprecation Warning at tools/KittiDataset/CMakeLists.txt:14 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at tools/RgbdDataset/CMakeLists.txt:14 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at tools/EurocDataset/CMakeLists.txt:30 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at tools/Recovery/CMakeLists.txt:12 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at tools/Reprocess/CMakeLists.txt:12 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
CMake Deprecation Warning at tools/DetectMoreLoopClosures/CMakeLists.txt:12 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- RTAB-Map GUI lib is not built, some tools won't be built...
CMake Deprecation Warning at examples/BOWMapping/CMakeLists.txt:27 (cmake_policy):
The OLD behavior for policy CMP0020 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- RTAB-Map GUI lib is not built, the RGBDMapping and WifiMapping examples will not be built...
-- --------------------------------------------
-- Info :
-- Version : 0.19.5
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11
-- FLANN_KDTREE_MEM_OPT = OFF
-- PCL_DEFINITIONS = ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
-- PCL_VERSION = 1.8.1
--
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)
-- With Qt = NO (Qt not found)
-- With external SQLite3 = YES (License: Public Domain)
-- With ORB OcTree = YES (License: GPLv3)
-- With Madgwick = YES (License: GPL)
-- With FastCV = NO (FastCV not found)
--
-- Solvers:
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- *With g2o = YES (License: BSD)
-- *With GTSAM = NO (GTSAM not found)
-- *With Ceres = NO (Ceres not found)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = NO (cvsba not found)
-- *With libpointmatcher = NO (libpointmatcher not found)
--
-- Reconstruction Approaches:
-- With OCTOMAP = YES (License: BSD)
-- With CPUTSDF = NO (CPUTSDF not found)
-- With OpenChisel = NO (open_chisel not found)
--
-- Camera Drivers:
-- With Freenect = YES (License: Apache v2 and/or GPLv2)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = YES (License: Apache v2 and/or GPLv2)
-- With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
-- With Kinect for Azure = NO (Kinect for Azure SDK not found)
-- With dc1394 = NO (dc1394 not found)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With ZED = NO (ZED sdk not found)
-- With RealSense = NO (librealsense not found)
-- With RealSense2 = NO (librealsense2 not found)
--
-- Odometry Approaches:
-- With loam_velodyne = NO (loam_velodyne not found)
-- With libfovis = NO (libfovis not found)
-- With libviso2 = NO (libviso2 not found)
-- With dvo_core = NO (dvo_core not found)
-- With okvis = NO (okvis not found)
-- With msckf_vio = NO (WITH_MSCKF_VIO=OFF)
-- With VINS-Fusion = NO (VINS-Fusion not found)
-- With ORB_SLAM2 = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/supergitan/rtabmap/buildMake & installScanning dependencies of target rtabmap_utilite
[ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
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[ 8%] Linking CXX shared library ../../../bin/librtabmap_utilite.so
[ 8%] Built target rtabmap_utilite
Scanning dependencies of target res_tool
[ 9%] Building CXX object utilite/resource_generator/CMakeFiles/res_tool.dir/main.cpp.o
[ 9%] Linking CXX executable ../../../bin/rtabmap-res_tool
[ 9%] Built target res_tool
[ 9%] [Creating resources]
Using namespace=rtabmap
Using target directory=/home/supergitan/rtabmap/build/corelib/src
Input file "/home/supergitan/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 5664 bytes
Output file "/home/supergitan/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 11555 bytes
Scanning dependencies of target rtabmap_core
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
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[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoTara.cpp.o
[ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraVideo.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 32%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 32%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 33%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 35%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o
[ 36%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o
[ 36%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 37%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o
In file included from /home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:59:0:
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp: In instantiation of ‘void pcl::ExtractIndices<PointT>::filterDirectly(pcl::ExtractIndices<PointT>::PointCloudPtr&) [with PointT = pcl::PointNormal; pcl::ExtractIndices<PointT>::PointCloudPtr = boost::shared_ptr<pcl::PointCloud<pcl::PointNormal> >]’:
/home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:64:1: required from here
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp:62:18: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (pt_index >= input_->points.size ())
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp: In instantiation of ‘void pcl::ExtractIndices<PointT>::applyFilter(pcl::ExtractIndices<PointT>::PointCloud&) [with PointT = pcl::PointNormal; pcl::ExtractIndices<PointT>::PointCloud = pcl::PointCloud<pcl::PointNormal>]’:
/home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:64:1: required from here
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp:95:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (pt_index >= input_->points.size ())
In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /usr/include/pcl-1.8/pcl/segmentation/sac_segmentation.h:49,
from /home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:44:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^~~~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
In file included from /home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:59:0:
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp: In instantiation of ‘void pcl::ExtractIndices<PointT>::applyFilter(pcl::ExtractIndices<PointT>::PointCloud&) [with PointT = pcl::PointXYZRGBNormal; pcl::ExtractIndices<PointT>::PointCloud = pcl::PointCloud<pcl::PointXYZRGBNormal>]’:
/home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:1803:1: required from here
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp:95:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (pt_index >= input_->points.size ())
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp: In instantiation of ‘void pcl::ExtractIndices<PointT>::applyFilter(pcl::ExtractIndices<PointT>::PointCloud&) [with PointT = pcl::PointXYZRGB; pcl::ExtractIndices<PointT>::PointCloud = pcl::PointCloud<pcl::PointXYZRGB>]’:
/home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:1803:1: required from here
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp:95:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp: In instantiation of ‘void pcl::ExtractIndices<PointT>::applyFilter(pcl::ExtractIndices<PointT>::PointCloud&) [with PointT = pcl::PointXYZ; pcl::ExtractIndices<PointT>::PointCloud = pcl::PointCloud<pcl::PointXYZ>]’:
/home/supergitan/rtabmap/corelib/src/util3d_filtering.cpp:1803:1: required from here
/usr/include/pcl-1.8/pcl/filters/impl/extract_indices.hpp:95:20: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
[ 38%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o
[ 38%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o
[ 39%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o
In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
from /usr/include/pcl-1.8/pcl/registration/icp.h:45,
from /home/supergitan/rtabmap/corelib/src/util3d_registration.cpp:34:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^~~~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 40%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o
[ 40%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o
[ 41%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o
[ 42%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o
[ 43%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o
[ 43%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
[ 44%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o
[ 45%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o
[ 45%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/LaserScan.cpp.o
[ 46%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o
[ 47%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerTORO.cpp.o
[ 47%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o
[ 48%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o
[ 49%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCVSBA.cpp.o
[ 49%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCeres.cpp.o
[ 50%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Registration.cpp.o
[ 51%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationIcp.cpp.o
[ 51%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationVis.cpp.o
In file included from /home/supergitan/rtabmap/corelib/src/rtflann/util/params.h:33:0,
from /home/supergitan/rtabmap/corelib/src/rtflann/flann.hpp:42,
from /home/supergitan/rtabmap/corelib/src/RegistrationVis.cpp:47:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h: In member function ‘virtual void rtflann::anyimpl::big_any_policy<T>::static_delete(void**)’:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^~
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:55: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^
[ 52%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o
[ 53%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryThread.cpp.o
[ 53%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryF2M.cpp.o
In file included from /home/supergitan/rtabmap/corelib/src/rtflann/util/params.h:33:0,
from /home/supergitan/rtabmap/corelib/src/rtflann/flann.hpp:42,
from /home/supergitan/rtabmap/corelib/src/odometry/OdometryF2M.cpp:42:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h: In member function ‘virtual void rtflann::anyimpl::big_any_policy<T>::static_delete(void**)’:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^~
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:55: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^
[ 54%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryMono.cpp.o
[ 55%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryF2F.cpp.o
[ 55%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryFovis.cpp.o
[ 56%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryViso2.cpp.o
[ 57%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryDVO.cpp.o
[ 57%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryOkvis.cpp.o
[ 58%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryORBSLAM2.cpp.o
[ 59%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryLOAM.cpp.o
[ 59%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryMSCKF.cpp.o
[ 60%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o
[ 61%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/IMUThread.cpp.o
[ 61%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/IMUFilter.cpp.o
[ 62%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/imufilter/ComplementaryFilter.cpp.o
[ 63%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Stereo.cpp.o
[ 63%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoDense.cpp.o
[ 64%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoCameraModel.cpp.o
[ 65%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/stereo/StereoBM.cpp.o
[ 65%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/stereo/StereoSGBM.cpp.o
[ 66%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OccupancyGrid.cpp.o
[ 67%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/MarkerDetector.cpp.o
[ 68%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GainCompensator.cpp.o
[ 68%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4.c.o
[ 69%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4hc.c.o
[ 70%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/FlannIndex.cpp.o
In file included from /home/supergitan/rtabmap/corelib/src/rtflann/util/params.h:33:0,
from /home/supergitan/rtabmap/corelib/src/rtflann/flann.hpp:42,
from /home/supergitan/rtabmap/corelib/src/FlannIndex.cpp:31:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h: In member function ‘virtual void rtflann::anyimpl::big_any_policy<T>::static_delete(void**)’:
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^~
/home/supergitan/rtabmap/corelib/src/rtflann/util/any.h:81:55: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
^
[ 70%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/discrete_depth_distortion_model_helpers.cpp.o
[ 71%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/discrete_depth_distortion_model.cpp.o
[ 72%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/frame_projector.cpp.o
[ 72%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/slam_calibrator.cpp.o
[ 73%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/opencv/ORBextractor.cc.o
[ 74%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/opencv/solvepnp.cpp.o
[ 74%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/toro3d/posegraph3.cpp.o
[ 75%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/toro3d/treeoptimizer3_iteration.cpp.o
[ 76%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/toro3d/treeoptimizer3.cpp.o
[ 76%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/toro3d/posegraph2.cpp.o
[ 77%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/toro3d/treeoptimizer2.cpp.o
[ 78%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/g2o/edge_se3_xyzprior.cpp.o
[ 78%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/vertigo/g2o/edge_se2Switchable.cpp.o
[ 79%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/vertigo/g2o/edge_se3Switchable.cpp.o
[ 80%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/vertigo/g2o/edge_switchPrior.cpp.o
[ 80%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/vertigo/g2o/types_g2o_robust.cpp.o
[ 81%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/vertigo/g2o/vertex_switchLinear.cpp.o
[ 82%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OctoMap.cpp.o
[ 82%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/imufilter/MadgwickFilter.cpp.o
[ 83%] Linking CXX shared library ../../../bin/librtabmap_core.so
[ 83%] Built target rtabmap_core
Scanning dependencies of target consoleApp
[ 84%] Building CXX object tools/ConsoleApp/CMakeFiles/consoleApp.dir/main.cpp.o
[ 85%] Linking CXX executable ../../../bin/rtabmap-console
[ 85%] Built target consoleApp
Scanning dependencies of target imagesJoiner
[ 85%] Building CXX object tools/ImagesJoiner/CMakeFiles/imagesJoiner.dir/main.cpp.o
[ 86%] Linking CXX executable ../../../bin/rtabmap-imagesJoiner
[ 86%] Built target imagesJoiner
Scanning dependencies of target extractObject
[ 87%] Building CXX object tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o
In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /usr/include/pcl-1.8/pcl/segmentation/sac_segmentation.h:49,
from /home/supergitan/rtabmap/tools/ExtractObject/main.cpp:35:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^~~~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 88%] Linking CXX executable ../../../bin/rtabmap-extractObject
[ 88%] Built target extractObject
Scanning dependencies of target camera
[ 89%] Building CXX object tools/Camera/CMakeFiles/camera.dir/main.cpp.o
[ 89%] Linking CXX executable ../../../bin/rtabmap-camera
[ 89%] Built target camera
Scanning dependencies of target stereoEval
[ 90%] Building CXX object tools/StereoEval/CMakeFiles/stereoEval.dir/main.cpp.o
[ 91%] Linking CXX executable ../../../bin/rtabmap-stereoEval
[ 91%] Built target stereoEval
Scanning dependencies of target kitti_dataset
[ 92%] Building CXX object tools/KittiDataset/CMakeFiles/kitti_dataset.dir/main.cpp.o
[ 92%] Linking CXX executable ../../../bin/rtabmap-kitti_dataset
[ 92%] Built target kitti_dataset
Scanning dependencies of target rgbd_dataset
[ 93%] Building CXX object tools/RgbdDataset/CMakeFiles/rgbd_dataset.dir/main.cpp.o
[ 94%] Linking CXX executable ../../../bin/rtabmap-rgbd_dataset
[ 94%] Built target rgbd_dataset
Scanning dependencies of target euroc_dataset
[ 95%] Building CXX object tools/EurocDataset/CMakeFiles/euroc_dataset.dir/main.cpp.o
[ 95%] Linking CXX executable ../../../bin/rtabmap-euroc_dataset
[ 95%] Built target euroc_dataset
Scanning dependencies of target recovery
[ 96%] Building CXX object tools/Recovery/CMakeFiles/recovery.dir/main.cpp.o
[ 97%] Linking CXX executable ../../../bin/rtabmap-recovery
[ 97%] Built target recovery
Scanning dependencies of target reprocess
[ 97%] Building CXX object tools/Reprocess/CMakeFiles/reprocess.dir/main.cpp.o
[ 98%] Linking CXX executable ../../../bin/rtabmap-reprocess
[ 98%] Built target reprocess
Scanning dependencies of target detectMoreLoopClosures
[ 98%] Building CXX object tools/DetectMoreLoopClosures/CMakeFiles/detectMoreLoopClosures.dir/main.cpp.o
[ 99%] Linking CXX executable ../../../bin/rtabmap-detectMoreLoopClosures
[ 99%] Built target detectMoreLoopClosures
Scanning dependencies of target bow_mapping
[ 99%] Building CXX object examples/BOWMapping/CMakeFiles/bow_mapping.dir/main.cpp.o
[100%] Linking CXX executable ../../../bin/rtabmap-bow_mapping
[100%] Built target bow_mapping
supergitan@supergitan-cuivre:~/rtabmap/build$ sudo make install
[sudo] password for supergitan:
[ 8%] Built target rtabmap_utilite
[ 9%] Built target res_tool
[ 83%] Built target rtabmap_core
[ 85%] Built target consoleApp
[ 86%] Built target imagesJoiner
[ 88%] Built target extractObject
[ 89%] Built target camera
[ 91%] Built target stereoEval
[ 92%] Built target kitti_dataset
[ 94%] Built target rgbd_dataset
[ 95%] Built target euroc_dataset
[ 97%] Built target recovery
[ 98%] Built target reprocess
[ 99%] Built target detectMoreLoopClosures
[100%] Built target bow_mapping
Install the project...
-- Install configuration: "Release"
-- Installing: /usr/local/lib/rtabmap-0.19/RTABMapConfig.cmake
-- Installing: /usr/local/lib/rtabmap-0.19/RTABMapConfigVersion.cmake
-- Installing: /usr/local/share/rtabmap/package.xml
-- Installing: /usr/local/lib/librtabmap_utilite.so.0.19.5
-- Installing: /usr/local/lib/librtabmap_utilite.so.0.19
-- Installing: /usr/local/lib/librtabmap_utilite.so
-- Installing: /usr/local/include/rtabmap-0.19
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UDirectory.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UEventsHandler.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UVariant.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UStl.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UObjDeletionThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UtiLiteExp.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UThreadC.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Win32
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Win32/UThreadC.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Win32/UWin32.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UTimer.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UMutex.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/USemaphore.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Posix
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Posix/UThreadC.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UException.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UDestroyer.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/ULogger.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UtiLite.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UEventsSender.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UMath.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UFile.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UProcessInfo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UEventsManager.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UThreadNode.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UConversion.h
-- Installing: /usr/local/bin/rtabmap-res_tool-0.3.0
-- Installing: /usr/local/bin/rtabmap-res_tool
-- Set runtime path of "/usr/local/bin/rtabmap-res_tool-0.3.0" to ""
-- Installing: /usr/local/lib/librtabmap_core.so.0.19.5
-- Installing: /usr/local/lib/librtabmap_core.so.0.19
-- Installing: /usr/local/lib/librtabmap_core.so
-- Set runtime path of "/usr/local/lib/librtabmap_core.so.0.19.5" to ""
-- Up-to-date: /usr/local/include/rtabmap-0.19
-- Up-to-date: /usr/local/include/rtabmap-0.19/rtabmap
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Features2d.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RtabmapThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Odometry.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util2d.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraRGBD.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Statistics.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RegistrationInfo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraStereo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/GPS.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OdometryEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Rtabmap.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RtabmapEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OccupancyGrid.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/ProgressState.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Recovery.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/stereo
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/stereo/StereoSGBM.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/stereo/StereoBM.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/StereoCameraModel.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Stereo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RegistrationIcp.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/VWDictionary.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Camera.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_motion_estimation.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_mapping.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Signature.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Parameters.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/UserDataEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/DBReader.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/EpipolarGeometry.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Compression.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/IMUFilter.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RtabmapExp.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/FlannIndex.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/LaserScan.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Version.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OdometryInfo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_correspondences.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/SensorData.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraModel.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/MarkerDetector.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Landmark.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_features.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_transforms.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraRGB.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Image.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/DBDriverSqlite3.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/clams
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/clams/discrete_depth_distortion_model.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/clams/frame_projector.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/clams/slam_calibrator.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/impl
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/impl/util3d_surface.hpp
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/impl/util3d_mapping.hpp
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/impl/OccupancyGrid.hpp
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/EnvSensor.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Registration.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Memory.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryMono.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryLOAM.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryFovis.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryF2F.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryORBSLAM2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryDVO.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryViso2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryMSCKF.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryF2M.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryOkvis.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/odometry/OdometryVINS.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/CameraInfo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_surface.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_registration.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/IMUThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/RegistrationVis.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/GeodeticCoords.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Graph.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/IMU.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraOpenNI2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoDC1394.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraFreenect2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraRealSense2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraFreenect.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraImages.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraOpenNICV.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraVideo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraRealSense.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoTara.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraOpenni.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoFlyCapture2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoVideo.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoImages.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraRGBDImages.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraK4A.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoZed.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraK4W2.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OctoMap.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/StereoDense.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Transform.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Link.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/GainCompensator.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/DBDriver.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/VisualWord.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/ParamEvent.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OdometryThread.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/BayesFilter.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/ParticleFilter.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Optimizer.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_filtering.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerG2O.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerTORO.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerGTSAM.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerCeres.h
-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerCVSBA.h
-- Installing: /usr/local/bin/rtabmap-console
-- Set runtime path of "/usr/local/bin/rtabmap-console" to ""
-- Installing: /usr/local/bin/rtabmap-extractObject
-- Set runtime path of "/usr/local/bin/rtabmap-extractObject" to ""
-- Installing: /usr/local/bin/rtabmap-camera
-- Set runtime path of "/usr/local/bin/rtabmap-camera" to ""
-- Installing: /usr/local/bin/rtabmap-kitti_dataset
-- Set runtime path of "/usr/local/bin/rtabmap-kitti_dataset" to ""
-- Installing: /usr/local/bin/rtabmap-rgbd_dataset
-- Set runtime path of "/usr/local/bin/rtabmap-rgbd_dataset" to ""
-- Installing: /usr/local/bin/rtabmap-euroc_dataset
-- Set runtime path of "/usr/local/bin/rtabmap-euroc_dataset" to ""
-- Installing: /usr/local/bin/rtabmap-recovery
-- Set runtime path of "/usr/local/bin/rtabmap-recovery" to ""
-- Installing: /usr/local/bin/rtabmap-reprocess
-- Set runtime path of "/usr/local/bin/rtabmap-reprocess" to ""
-- Installing: /usr/local/bin/rtabmap-detectMoreLoopClosures
-- Set runtime path of "/usr/local/bin/rtabmap-detectMoreLoopClosures" to "" |
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cmake didn't find Qt: so |
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Anyway to fix it in a way I could still use Rviz? I am working on autonomous navigation and if it is not possible im not really sure what to do. Thanks in advance! |
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The issue was related to rtabmapviz. Rviz should work directly without any recompilation on rtabmap side. |
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All jetson with ubuntu 18.04 have the same problem, including TX2, AGX. Are there any better way to solve it now? |
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The problem still exists on Jetson TX2 running JetPack 4.3 with ZED SDK 3.0. I can't get past making VTK. Reading the error "cmake -DVTK_Group_Qt=ON -DVTK_QT_VERSION=4 -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release .." Googling this shows that it is caused by C compiler version which 7.4.0 in my case and one solution is to downgrade it. This is another case where it highlights that this is caused by the version GCC compiler. Other things I tried and didn't work: I am not sure if this helps, I would love to contribute in solving this as I have used rtabmap for some time, however, on Ubuntu 16 based JetPacks. |
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Hi, @matlabbe I also encountered the same issue and when i followed your steps, I got this error: rtabmap: error while loading shared libraries: libvtkGUISupportQt-6.3.so.6.3: cannot open shared object file: No such file or directory any idea what is happening? |
Update: Jetpack 4.3StandaloneThe instructions of this post above are still working. Tested with ZED SDK 3.1.2 driver and a zedm camera. ROSThe ros binaries are still working out of the box with the original issue (rtabmapviz blank 3D View). Recommendation is still to use rviz for visualization. If rtabmap has to be rebuilt from source. The new jetpack added more incompatibilities. By default sudo apt remove ros-melodic-cv-bridge
cd ~/catkin_ws/src
git clone https://github.com/BrutusTT/vision_opencv.git
git clone https://github.com/ros-perception/image_transport_pluginsBuild rtabmap library with When running robot mapping demo bag, if you get error " if (format.find("compressedDepth rvl") != std::string::npos) {
compression_format = "rvl";
} else if (format.find("compressedDepth") != std::string::npos) {
compression_format = "png"; // fallback default png for old rosbags |
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@axeotron Are you using VTK v6.3.0? Note that in my update just above, I tested with the precompiled vtk libraries with Qt4 of this post, I didn't try to rebuild VTK on Jetpack 3.4. @CluelessIT make sure you did step 7 in that post above. |
This was referenced Apr 2, 2020
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@matlabbe Indeed I was trying to rebuild it. Not sure if worth mentioning, I have changed my setup from Jetson TX2 to AGX Xavier running Jetpack 4.3 and ZED SDK 3.1.2 After trying without recompiling vtk and using the compiled libraries attached in the post above I managed to reach the building process. However, make fails with the following error: cmake output log file
cmake error log file
I managed to build it successfully, it was the way I removed the reference to Qt5 in Somehow now when I try to launch rtabmap I get the same as @CluelessIT in his post above I am considering a fresh start just to eliminate any unforeseen factors or hiccups I made at some point. But before that I will give the symbolic links more tries. |
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On my side, rtabmap is linked on $ ldd rtabmap | grep vtkldd bin/rtabmap | grep vtk
libvtkIOMPIImage-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOMPIImage-6.3.so.6.3 (0x0000007f8229a000)
libvtkRenderingFreeTypeFontConfig-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingFreeTypeFontConfig-6.3.so.6.3 (0x0000007f82280000)
libvtkRenderingLOD-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingLOD-6.3.so.6.3 (0x0000007f82257000)
libvtkRenderingMatplotlib-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingMatplotlib-6.3.so.6.3 (0x0000007f82237000)
libvtkRenderingVolumeOpenGL-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingVolumeOpenGL-6.3.so.6.3 (0x0000007f82187000)
libvtkGUISupportQt-6.3.so.1 => /usr/lib/aarch64-linux-gnu/libvtkGUISupportQt-6.3.so.1 (0x0000007f81819000)
libvtkRenderingOpenGL-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3 (0x0000007f81576000)
libvtkInteractionStyle-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkInteractionStyle-6.3.so.6.3 (0x0000007f814e4000)
libvtkRenderingAnnotation-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingAnnotation-6.3.so.6.3 (0x0000007f81396000)
libvtkRenderingFreeType-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingFreeType-6.3.so.6.3 (0x0000007f812c6000)
libvtkRenderingCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingCore-6.3.so.6.3 (0x0000007f81050000)
libvtkFiltersSources-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersSources-6.3.so.6.3 (0x0000007f80f86000)
libvtkFiltersGeneral-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersGeneral-6.3.so.6.3 (0x0000007f80c80000)
libvtkCommonExecutionModel-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonExecutionModel-6.3.so.6.3 (0x0000007f80bc7000)
libvtkCommonDataModel-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonDataModel-6.3.so.6.3 (0x0000007f80885000)
libvtkCommonMath-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonMath-6.3.so.6.3 (0x0000007f80857000)
libvtkCommonCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonCore-6.3.so.6.3 (0x0000007f80543000)
libvtkIOMPIParallel-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOMPIParallel-6.3.so.6.3 (0x0000007f7715b000)
libvtkIOPLY-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOPLY-6.3.so.6.3 (0x0000007f77130000)
libvtkIOLegacy-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOLegacy-6.3.so.6.3 (0x0000007f76fc7000)
libvtkIOGeometry-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOGeometry-6.3.so.6.3 (0x0000007f76ead000)
libvtkIOImage-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOImage-6.3.so.6.3 (0x0000007f76d31000)
libvtkIOCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOCore-6.3.so.6.3 (0x0000007f76cb0000)
libvtkImagingCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkImagingCore-6.3.so.6.3 (0x0000007f76af7000)
libvtkFiltersModeling-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersModeling-6.3.so.6.3 (0x0000007f767dd000)
libvtkFiltersCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersCore-6.3.so.6.3 (0x0000007f763b2000)
libvtkRenderingContextOpenGL-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingContextOpenGL-6.3.so.6.3 (0x0000007f76372000)
libvtkViewsContext2D-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkViewsContext2D-6.3.so.6.3 (0x0000007f7634f000)
libvtkChartsCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkChartsCore-6.3.so.6.3 (0x0000007f760f6000)
libvtkRenderingContext2D-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingContext2D-6.3.so.6.3 (0x0000007f760a3000)
libvtkInteractionWidgets-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkInteractionWidgets-6.3.so.6.3 (0x0000007f75d90000)
libvtkImagingSources-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkImagingSources-6.3.so.6.3 (0x0000007f75d35000)
libvtkCommonColor-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonColor-6.3.so.6.3 (0x0000007f75d0a000)
libvtkFiltersExtraction-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersExtraction-6.3.so.6.3 (0x0000007f75bf9000)
libvtkCommonTransforms-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonTransforms-6.3.so.6.3 (0x0000007f75bbd000)
libvtkParallelMPI-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkParallelMPI-6.3.so.6.3 (0x0000007f75b85000)
libvtkParallelCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkParallelCore-6.3.so.6.3 (0x0000007f75a0e000)
libvtksys-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtksys-6.3.so.6.3 (0x0000007f759b9000)
libvtkPythonInterpreter-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkPythonInterpreter-6.3.so.6.3 (0x0000007f7599c000)
libvtkWrappingPython27Core-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkWrappingPython27Core-6.3.so.6.3 (0x0000007f7595a000)
libvtkRenderingVolume-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkRenderingVolume-6.3.so.6.3 (0x0000007f750c3000)
libvtkCommonSystem-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonSystem-6.3.so.6.3 (0x0000007f7509f000)
libvtkImagingHybrid-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkImagingHybrid-6.3.so.6.3 (0x0000007f74eb6000)
libvtkftgl-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkftgl-6.3.so.6.3 (0x0000007f74e2f000)
libvtkFiltersGeometry-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersGeometry-6.3.so.6.3 (0x0000007f74d98000)
libvtkCommonComputationalGeometry-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonComputationalGeometry-6.3.so.6.3 (0x0000007f74d4e000)
libvtkCommonMisc-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkCommonMisc-6.3.so.6.3 (0x0000007f74d28000)
libvtkIOParallel-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIOParallel-6.3.so.6.3 (0x0000007f71ad3000)
libvtkmetaio-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkmetaio-6.3.so.6.3 (0x0000007f719e3000)
libvtkDICOMParser-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkDICOMParser-6.3.so.6.3 (0x0000007f719b9000)
libvtkViewsCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkViewsCore-6.3.so.6.3 (0x0000007f7197d000)
libvtkInfovisCore-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkInfovisCore-6.3.so.6.3 (0x0000007f7170a000)
libvtkFiltersHybrid-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersHybrid-6.3.so.6.3 (0x0000007f71630000)
libvtkImagingGeneral-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkImagingGeneral-6.3.so.6.3 (0x0000007f7153c000)
libvtkFiltersStatistics-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersStatistics-6.3.so.6.3 (0x0000007f714a7000)
libvtkFiltersParallel-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkFiltersParallel-6.3.so.6.3 (0x0000007f6faef000)
libvtkIONetCDF-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkIONetCDF-6.3.so.6.3 (0x0000007f6fa7c000)
libvtkImagingFourier-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkImagingFourier-6.3.so.6.3 (0x0000007f6f8e8000)
libvtkalglib-6.3.so.6.3 => /usr/lib/aarch64-linux-gnu/libvtkalglib-6.3.so.6.3 (0x0000007f6f8b6000)Try cleaning your cmake cache so that cmake removes previous links to old libraries. EDIT /usr/lib/aarch64-linux-gnu$ ls -l libvtk* | grep Apr
lrwxrwxrwx 1 root root 29 Apr 2 09:12 libvtkCommonCore-6.3.so.1 -> libvtkCommonCore-6.3.so.6.3.0
lrwxrwxrwx 1 root root 34 Apr 2 09:12 libvtkCommonDataModel-6.3.so.1 -> libvtkCommonDataModel-6.3.so.6.3.0
lrwxrwxrwx 1 root root 36 Apr 2 09:12 libvtkFiltersExtraction-6.3.so.1 -> libvtkFiltersExtraction-6.3.so.6.3.0
-rwxr-xr-x 1 root root 354672 Apr 2 09:08 libvtkGUISupportQt-6.3.so
-rwxr-xr-x 1 root root 354672 Apr 2 09:08 libvtkGUISupportQt-6.3.so.1
lrwxrwxrwx 1 root root 27 Apr 2 09:12 libvtkGUISupportQt-6.3.so.6.3.0 -> libvtkGUISupportQt-6.3.so.1
-rwxr-xr-x 1 root root 104520 Apr 2 09:08 libvtkGUISupportQtOpenGL-6.3.so
-rwxr-xr-x 1 root root 104520 Apr 2 09:08 libvtkGUISupportQtOpenGL-6.3.so.1
lrwxrwxrwx 1 root root 33 Apr 2 09:11 libvtkGUISupportQtOpenGL-6.3.so.6.3.0 -> libvtkGUISupportQtOpenGL-6.3.so.1
-rwxr-xr-x 1 root root 85544 Apr 2 09:09 libvtkGUISupportQtSQL-6.3.so
-rwxr-xr-x 1 root root 85544 Apr 2 09:09 libvtkGUISupportQtSQL-6.3.so.1
lrwxrwxrwx 1 root root 30 Apr 2 09:12 libvtkGUISupportQtSQL-6.3.so.6.3.0 -> libvtkGUISupportQtSQL-6.3.so.1
lrwxrwxrwx 1 root root 35 Apr 2 09:12 libvtkInteractionStyle-6.3.so.1 -> libvtkInteractionStyle-6.3.so.6.3.0
lrwxrwxrwx 1 root root 32 Apr 2 09:12 libvtkRenderingCore-6.3.so.1 -> libvtkRenderingCore-6.3.so.6.3.0
lrwxrwxrwx 1 root root 34 Apr 2 09:12 libvtkRenderingOpenGL-6.3.so.1 -> libvtkRenderingOpenGL-6.3.so.6.3.0
-rwxr-xr-x 1 root root 146752 Apr 2 09:09 libvtkRenderingQt-6.3.so
-rwxr-xr-x 1 root root 146752 Apr 2 09:09 libvtkRenderingQt-6.3.so.1
lrwxrwxrwx 1 root root 26 Apr 2 09:12 libvtkRenderingQt-6.3.so.6.3.0 -> libvtkRenderingQt-6.3.so.1
-rwxr-xr-x 1 root root 209800 Apr 2 09:09 libvtkViewsQt-6.3.so
-rwxr-xr-x 1 root root 209800 Apr 2 09:09 libvtkViewsQt-6.3.so.1
lrwxrwxrwx 1 root root 22 Apr 2 09:12 libvtkViewsQt-6.3.so.6.3.0 -> libvtkViewsQt-6.3.so.1 |
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Thanks, now I managed to get ./rtabmap launch. I did kind of repeat the steps from step 4 just to make sure no other library is miss-linked and emptied the whole build file. Now its time to get the camera running. I hope that having ZED 2 is not a problem :P |
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After performing the steps on this post , i am getting stuck since I get an error using make after : cmake .. --DWITH_QT=OFF Current error when trying to make Current setup :
Steps tooken:
Goal |
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Looks like some json code was introduced recently that broke it. Edit: to fix this, edit the file corelib/src/camera/CameraRealSense2.cpp: At the top, change: to |
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Bonjour Mathieu, I finally received my Xavier NX and it comes with JETPACK 4.4 Do you have any plan to update VTK to newer release and using QT5 soon ? |
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@patrickpoirier51 I'm currently running RTAB-Map on an Xavier NX with Qt 5.14.2, VTK 7.1.1, libPCL-1.11, and OpenCV 4.3. Works perfectly. |
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@tkircher oh great! |
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Pull down the Qt source from git://code.qt.io/qt/qt5.git, and check out branch 5.14. Build and install according to the directions. Then when you configure VTK 7, make sure to specify -DVTK_QT_VERSION=5. When you subsequently build OpenCV, specify the CUDA arch for Xavier: -DCUDA_ARCH_BIN=7.2, also make sure to specify -DOPENCV_ENABLE_NONFREE=1. |
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For the standalone example, another solution is to use the docker image, see https://github.com/introlab/rtabmap/wiki/Installation#rtab-map-desktop-ubuntu-1804-2004 (updated from this issue #776), the 3D Map view is working properly. |
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@Shishir-Kumar-Singh |
@jcyhcs |
I'm currently using Jetpack 4.6, Qt 5.15, VTK 8.2, PCL 1.12.0, OpenCV 4.5.4, and everything works perfectly. Obviously you can't use the system Qt. |
@tkircher Thanks for sharing it. I had been on jetpack 4.4. Probably, now it is a good idea to update it. |
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Something else I feel like I should point out is that running Jetpack from an SD card impacts performance dramatically. With the Jetson in particular you also can't really use a ramdisk because there isn't enough RAM to begin with. It's better to boot and run from an M.2 NVMe SSD. There are also several useless packages and services running by default that should be removed and disabled: |
Did you still need to build rtabmap from source or did it work by simple installing the ros package? I'm on Jetson NAno JetPack 4.6 too and wonder how to install. |
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If you are fine to use rviz instead of rtabmapviz, ros binaries work. |
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Update:
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matlabbe
added a commit
that referenced
this issue
Mar 7, 2022
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The opencv |
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hello @matlabbe thank you for the info. |
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@ProphetXH |
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@Shishir-Kumar-Singh thank you for your reply. then I run rviz successsfully, but I have some questions to ask.
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@ProphetXH Which camera are you using? |
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@Shishir-Kumar-Singh I am using intel realsenseL515. |
@ProphetXH I had the similar issue with my camera D435i. It is somehere related to transformation. Follow this tutorial |
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@Shishir-Kumar-Singh thank you very much. I'll try it in these two days. |
I got the same error when I want to make catkin_make in my workspace |
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Latest rtabmap version doesn't require but rtabmap_ros didn't get updated:
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I read this issue someelse and you came with option that is deleting optflow in CMake files, I did it same. |
Closed
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I found another elegant way of doing this.
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Hardware: Jetson Nano
OS: Ubuntu 18.04 w/ ROS Melodic and Jetpack
I cannot view the 3d map generated. The 3d map tab is completely empty. I've tried to install from source but the problem is still there. I believe this issue might be related to ther map not being saved on ROS.
Could you guys shed some light?
Thanks!
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