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introlab
3D map is not loading (jetson nano)
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!
Here is how it looks
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.
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:
- Install/uninstall
ros-melodic-rtabmap-rosto get all dependencies installed:
$ sudo apt install ros-melodic-rtabmap-ros
$ sudo apt remove ros-melodic-rtabmap
- Build VTK 6.3.0 from source with Qt4 (not Qt5!) OR without recompiling, download this archive vtk6.3.0-arm64-qt4-libs-cmake.zip with already compiled libraries and cmake modules to overwrite ans skip this step:
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 ..
- Remove all Qt5 related vtk libraries installed in
/usr/lib/aarch64-linux-gnu:
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
- Copy the newly compiled ones with Qt4 support:
# 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/.
- Copy cmake modules from the temporary install directory if built from source, or use cmake files from zip above:
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/.
-
Remove all references to Qt5 stuff in
/usr/lib/cmake/vtk-6.3/VTKTargets.cmakeand/usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake. -
Create symbolic links to match binaries version:
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
-
Install optional rtabmap depdencies (like GTSAM, realsense, libpointmatcher, zed, etc.)
-
Build RTAB-Map with same Qt version (4) used by VTK (use latest rtabmap from source to have
RTABMAP_QT_VERSIONoption):
cd ~
git clone https://github.com/introlab/rtabmap.git
cd rtabmap/build
cmake -DRTABMAP_QT_VERSION=4 ..
make
NOTES:
- rtabmap_ros not yet tested (there could be a problem with RVIZ plugins and rtabmapviz using different Qt versions). If you are going to use ROS, avoid all those recompilations and use rtabmap binaries directly and just don't use rtabmapviz but RVIZ instead!
-
UPDATE for ROS. I am able to build
rtabmap_rosfrom source with rtabmap above, but we should disable rtabmap's rviz plugins by commenting this line (to avoid linking to Qt5 libraries) and remove/usr/lib/aarch64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0from/opt/ros/melodic/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake(to avoidrtabmap_roscompilation errors). Here is an example:
- I didn't retest the walk-through above on a fresh nano (it is quite long to test! >6 hours)
- To make it easier, we could build vtk against Qt5 instead of workaround qt4, but there an issue on nano that Qt5 is built with OpenGL_ES, not OpenGL2, causing those compilation errors.
Hello Matthieu or anyone who could help me, I also use a jetson nano, and i use libfreenect2 (neither g2o nor GTSAM), I've flashed the last linux release by nvidia : version JP 4.2.2 | 2019/08/26 i had what i believe to be the same issue : i have a freezed image on the 3D display window, and rtabmap crashes when i try to use the start button. i'm a newbie at linux (it's been only 6 month i'm using it).
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/build/lib/ to drop the files into (with a previous git clone VTK).
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".
Remove all references to Qt5 stuff in /usr/lib/cmake/vtk-6.3/VTKTargets.cmake and /usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake.
i removed every reference to Qt5 using gedit, it seems to have issue with attached metadata. i'm unsure my issue is related to the way i had edited this file, but maybe i'm wrong.
after building and installing Rtabmap (which was fine, i did not have more compilation errors than usual) , i can't run rtabmap by running
$ rtabmap
i get the error bash: rtabmap: command not found
i've tried echo $PATH , multiple results but no :/home/rtabmap/bin
so i tried export PATH=$PATH:/home/rtabmap/bin
i know this issue is probably just a PATH issue, but i've tried all day long and i still have no solution.
i will retry with the before last ubuntu release from nvidia
Just to run rtabmap from rtabmap/bin directory, you have to do ./rtabmap, not rtabmap:
cd rtabmap/bin
./rtabmap
I have done the procedure again on a freshly flashed Sd, to be sure nothing is interfering with the result. At the end, I tried to do
cd rtabmap/bin
./rtabmap
i have the following error: bash: ./rtabmap: No such file or directory
it seems that ./rtabmap is not into the bin directory, i tried ls -a , it returned:
. 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-stereoEval
i have archived the cmake make and install text from shell, in case it could be useful.
I guess i have missed something on Part6:
Remove all references to Qt5 stuff in /usr/lib/cmake/vtk-6.3/VTKTargets.cmake and /usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake.
plus, when installing/desinstalling ros-melodic-rtabmap-ros , i have initialized rosdep, could be a source of issues?
Cmake
supergitan@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/build
Make & install
Scanning dependencies of target rtabmap_utilite
[ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
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[ 7%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UVariant.cpp.o
[ 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
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4A.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNICV.cpp.o
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[ 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
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-- 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
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-- 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
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-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraRGBDImages.h
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-- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OctoMap.h
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cmake didn't find Qt:
With Qt = NO (Qt not found)
so rtabmap app is not built (well all gui stuff). Initializing rosdep would not be an issue. Is qt4 installed?
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!
The issue was related to rtabmapviz. Rviz should work directly without any recompilation on rtabmap side.
All jetson with ubuntu 18.04 have the same problem, including TX2, AGX. Are there any better way to solve it now?
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. https://github.com/ufz/ogs/issues/1274#issuecomment-227650988
Other things I tried and didn't work: Commenting the lines as shown here https://github.com/mxe/mxe/issues/1536#issuecomment-509168351
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.
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 4.3
Standalone
The instructions of this post above are still working. Tested with ZED SDK 3.1.2 driver and a zedm camera.
ROS
The 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 libopencv-dev version from jetpack image is now 4.1.1. This is causing problems when building rtabmap_ros with cv_bridge, which is still linked to standard 3.2 version from bionic. cv_bridge has to be also rebuilt from source. The master branch of cv_bridge repo is not compatible with opencv 4, we should use this pull request. In summary:
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_plugins
Build rtabmap library with -DWITH_QT=OFF if you are using RVIZ. If rtabmapviz needs to be used, you would have to follow the instructions of the standalone version, including the second note at the bottom of the same post.
When running robot mapping demo bag, if you get error "Unsupported image format: 32FC1; compressedDepth", change those lines to:
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
@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.
@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:
[ 44%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OctoMap.cpp.o make[2]: *** No rule to make target 'vtkGUISupportQtOpenGL-NOTFOUND', needed by '../bin/librtabmap_core.so.0.19.6'. Stop. make[2]: *** Waiting for unfinished jobs.... [ 44%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/imufilter/MadgwickFilter.cpp.o CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2 nvidia@axtron-xavier:~/rtabmap/build$
cmake output log file
The system is: Linux - 4.9.140-tegra - aarch64
Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
Compiler: /usr/bin/cc
Build flags:
Id flags:
The output was:
0
Compilation of the C compiler identification source "CMakeCCompilerId.c" produced "a.out"
The C compiler identification is GNU, found in "/home/nvidia/rtabmap/build/CMakeFiles/3.10.2/CompilerIdC/a.out"
Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
Compiler: /usr/bin/c++
Build flags:
Id flags:
The output was:
0
Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
The CXX compiler identification is GNU, found in "/home/nvidia/rtabmap/build/CMakeFiles/3.10.2/CompilerIdCXX/a.out"
Determining if the C compiler works passed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_8248b/fast"
/usr/bin/make -f CMakeFiles/cmTC_8248b.dir/build.make CMakeFiles/cmTC_8248b.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_8248b.dir/testCCompiler.c.o
/usr/bin/cc -o CMakeFiles/cmTC_8248b.dir/testCCompiler.c.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/testCCompiler.c
Linking C executable cmTC_8248b
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_8248b.dir/link.txt --verbose=1
/usr/bin/cc -rdynamic CMakeFiles/cmTC_8248b.dir/testCCompiler.c.o -o cmTC_8248b
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Detecting C compiler ABI info compiled with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_f1142/fast"
/usr/bin/make -f CMakeFiles/cmTC_f1142.dir/build.make CMakeFiles/cmTC_f1142.dir/build
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arg [/usr/lib/gcc/aarch64-linux-gnu/7/collect2] ==> ignore
arg [-plugin] ==> ignore
arg [/usr/lib/gcc/aarch64-linux-gnu/7/liblto_plugin.so] ==> ignore
arg [-plugin-opt=/usr/lib/gcc/aarch64-linux-gnu/7/lto-wrapper] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/ccBMFwx3.res] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [-plugin-opt=-pass-through=-lpthread] ==> ignore
arg [-plugin-opt=-pass-through=-lc] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [--build-id] ==> ignore
arg [--eh-frame-hdr] ==> ignore
arg [--hash-style=gnu] ==> ignore
arg [--as-needed] ==> ignore
arg [-export-dynamic] ==> ignore
arg [-dynamic-linker] ==> ignore
arg [/lib/ld-linux-aarch64.so.1] ==> ignore
arg [-X] ==> ignore
arg [-EL] ==> ignore
arg [-maarch64linux] ==> ignore
arg [--fix-cortex-a53-843419] ==> ignore
arg [-pie] ==> ignore
arg [-znow] ==> ignore
arg [-zrelro] ==> ignore
arg [-o] ==> ignore
arg [cmTC_0fda5] ==> ignore
arg [/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu/Scrt1.o] ==> ignore
arg [/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu/crti.o] ==> ignore
arg [/usr/lib/gcc/aarch64-linux-gnu/7/crtbeginS.o] ==> ignore
arg [-L/usr/lib/gcc/aarch64-linux-gnu/7] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/7]
arg [-L/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu]
arg [-L/usr/lib/gcc/aarch64-linux-gnu/7/../../../../lib] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../../../lib]
arg [-L/lib/aarch64-linux-gnu] ==> dir [/lib/aarch64-linux-gnu]
arg [-L/lib/../lib] ==> dir [/lib/../lib]
arg [-L/usr/lib/aarch64-linux-gnu] ==> dir [/usr/lib/aarch64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/aarch64-linux-gnu/7/../../..] ==> dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../..]
arg [CMakeFiles/cmTC_0fda5.dir/OpenMPTryFlag.cpp.o] ==> ignore
arg [-lstdc++] ==> lib [stdc++]
arg [-lm] ==> lib [m]
arg [-lgomp] ==> lib [gomp]
arg [-lgcc_s] ==> lib [gcc_s]
arg [-lgcc] ==> lib [gcc]
arg [-lpthread] ==> lib [pthread]
arg [-lc] ==> lib [c]
arg [-lgcc_s] ==> lib [gcc_s]
arg [-lgcc] ==> lib [gcc]
arg [/usr/lib/gcc/aarch64-linux-gnu/7/crtendS.o] ==> ignore
arg [/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu/crtn.o] ==> ignore
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/7] ==> [/usr/lib/gcc/aarch64-linux-gnu/7]
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../../../lib] ==> [/usr/lib]
collapse library dir [/lib/aarch64-linux-gnu] ==> [/lib/aarch64-linux-gnu]
collapse library dir [/lib/../lib] ==> [/lib]
collapse library dir [/usr/lib/aarch64-linux-gnu] ==> [/usr/lib/aarch64-linux-gnu]
collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
collapse library dir [/usr/lib/gcc/aarch64-linux-gnu/7/../../..] ==> [/usr/lib]
implicit libs: [stdc++;m;gomp;gcc_s;gcc;pthread;c;gcc_s;gcc]
implicit dirs: [/usr/lib/gcc/aarch64-linux-gnu/7;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib]
implicit fwks: []
Determining if the Q_WS_X11 exist passed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_ef925/fast"
/usr/bin/make -f CMakeFiles/cmTC_ef925.dir/build.make CMakeFiles/cmTC_ef925.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_ef925.dir/CheckSymbolExists.cxx.o
/usr/bin/c++ -I/usr/include/qt4 -fmessage-length=0 -fopenmp -o CMakeFiles/cmTC_ef925.dir/CheckSymbolExists.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx
Linking CXX executable cmTC_ef925
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ef925.dir/link.txt --verbose=1
/usr/bin/c++ -fmessage-length=0 -fopenmp -rdynamic CMakeFiles/cmTC_ef925.dir/CheckSymbolExists.cxx.o -o cmTC_ef925
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
File /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
/* */
#include <QtCore/qglobal.h>
int main(int argc, char** argv)
{
(void)argv;
#ifndef Q_WS_X11
return ((int*)(&Q_WS_X11))[argc];
#else
(void)argc;
return 0;
#endif
}
Determining if the function sgemm_ exists passed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_16fd7/fast"
/usr/bin/make -f CMakeFiles/cmTC_16fd7.dir/build.make CMakeFiles/cmTC_16fd7.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_16fd7.dir/CheckFunctionExists.c.o
/usr/bin/cc -fmessage-length=0 -fopenmp -DCHECK_FUNCTION_EXISTS=sgemm_ -o CMakeFiles/cmTC_16fd7.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.10/Modules/CheckFunctionExists.c
Linking C executable cmTC_16fd7
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_16fd7.dir/link.txt --verbose=1
/usr/bin/cc -fmessage-length=0 -fopenmp -DCHECK_FUNCTION_EXISTS=sgemm_ -rdynamic CMakeFiles/cmTC_16fd7.dir/CheckFunctionExists.c.o -o cmTC_16fd7 /usr/lib/aarch64-linux-gnu/libopenblas.so
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Performing C++ SOURCE FILE Test COMPILER_SUPPORTS_CXX11 succeeded with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_09704/fast"
/usr/bin/make -f CMakeFiles/cmTC_09704.dir/build.make CMakeFiles/cmTC_09704.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_09704.dir/src.cxx.o
/usr/bin/c++ -fmessage-length=0 -fopenmp -DCOMPILER_SUPPORTS_CXX11 -std=c++11 -o CMakeFiles/cmTC_09704.dir/src.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/src.cxx
Linking CXX executable cmTC_09704
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_09704.dir/link.txt --verbose=1
/usr/bin/c++ -fmessage-length=0 -fopenmp -DCOMPILER_SUPPORTS_CXX11 -rdynamic CMakeFiles/cmTC_09704.dir/src.cxx.o -o cmTC_09704
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Source file was:
int main() { return 0; }
Performing C++ SOURCE FILE Test COMPILER_SUPPORTS_CXX0X succeeded with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_ee9fe/fast"
/usr/bin/make -f CMakeFiles/cmTC_ee9fe.dir/build.make CMakeFiles/cmTC_ee9fe.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_ee9fe.dir/src.cxx.o
/usr/bin/c++ -fmessage-length=0 -fopenmp -DCOMPILER_SUPPORTS_CXX0X -std=c++0x -o CMakeFiles/cmTC_ee9fe.dir/src.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/src.cxx
Linking CXX executable cmTC_ee9fe
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ee9fe.dir/link.txt --verbose=1
/usr/bin/c++ -fmessage-length=0 -fopenmp -DCOMPILER_SUPPORTS_CXX0X -rdynamic CMakeFiles/cmTC_ee9fe.dir/src.cxx.o -o cmTC_ee9fe
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Source file was:
int main() { return 0; }
cmake error log file
Determining if the pthread_create exist failed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_16f66/fast"
/usr/bin/make -f CMakeFiles/cmTC_16f66.dir/build.make CMakeFiles/cmTC_16f66.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_16f66.dir/CheckSymbolExists.c.o
/usr/bin/cc -fmessage-length=0 -o CMakeFiles/cmTC_16f66.dir/CheckSymbolExists.c.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTC_16f66
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_16f66.dir/link.txt --verbose=1
/usr/bin/cc -fmessage-length=0 -rdynamic CMakeFiles/cmTC_16f66.dir/CheckSymbolExists.c.o -o cmTC_16f66
CMakeFiles/cmTC_16f66.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x14): undefined reference to `pthread_create'
CheckSymbolExists.c:(.text+0x18): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_16f66.dir/build.make:97: recipe for target 'cmTC_16f66' failed
make[1]: *** [cmTC_16f66] Error 1
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_16f66/fast' failed
make: *** [cmTC_16f66/fast] Error 2
File /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>
int main(int argc, char** argv)
{
(void)argv;
#ifndef pthread_create
return ((int*)(&pthread_create))[argc];
#else
(void)argc;
return 0;
#endif
}
Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_f2486/fast"
/usr/bin/make -f CMakeFiles/cmTC_f2486.dir/build.make CMakeFiles/cmTC_f2486.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_f2486.dir/CheckFunctionExists.c.o
/usr/bin/cc -fmessage-length=0 -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_f2486.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.10/Modules/CheckFunctionExists.c
Linking C executable cmTC_f2486
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_f2486.dir/link.txt --verbose=1
/usr/bin/cc -fmessage-length=0 -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_f2486.dir/CheckFunctionExists.c.o -o cmTC_f2486 -lpthreads
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_f2486.dir/build.make:97: recipe for target 'cmTC_f2486' failed
make[1]: *** [cmTC_f2486] Error 1
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_f2486/fast' failed
make: *** [cmTC_f2486/fast] Error 2
Determining if the Q_WS_WIN exist failed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_15420/fast"
/usr/bin/make -f CMakeFiles/cmTC_15420.dir/build.make CMakeFiles/cmTC_15420.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_15420.dir/CheckSymbolExists.cxx.o
/usr/bin/c++ -I/usr/include/qt4 -fmessage-length=0 -fopenmp -o CMakeFiles/cmTC_15420.dir/CheckSymbolExists.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx: In function ‘int main(int, char**)’:
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: error: ‘Q_WS_WIN’ was not declared in this scope
return ((int*)(&Q_WS_WIN))[argc];
^~~~~~~~
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: note: suggested alternative: ‘Q_WS_X11’
return ((int*)(&Q_WS_WIN))[argc];
^~~~~~~~
Q_WS_X11
CMakeFiles/cmTC_15420.dir/build.make:65: recipe for target 'CMakeFiles/cmTC_15420.dir/CheckSymbolExists.cxx.o' failed
make[1]: *** [CMakeFiles/cmTC_15420.dir/CheckSymbolExists.cxx.o] Error 1
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_15420/fast' failed
make: *** [cmTC_15420/fast] Error 2
File /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
/* */
#include <QtCore/qglobal.h>
int main(int argc, char** argv)
{
(void)argv;
#ifndef Q_WS_WIN
return ((int*)(&Q_WS_WIN))[argc];
#else
(void)argc;
return 0;
#endif
}
Determining if the Q_WS_QWS exist failed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_cda14/fast"
/usr/bin/make -f CMakeFiles/cmTC_cda14.dir/build.make CMakeFiles/cmTC_cda14.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_cda14.dir/CheckSymbolExists.cxx.o
/usr/bin/c++ -I/usr/include/qt4 -fmessage-length=0 -fopenmp -o CMakeFiles/cmTC_cda14.dir/CheckSymbolExists.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx: In function ‘int main(int, char**)’:
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: error: ‘Q_WS_QWS’ was not declared in this scope
return ((int*)(&Q_WS_QWS))[argc];
^~~~~~~~
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: note: suggested alternative: ‘Q_WS_X11’
return ((int*)(&Q_WS_QWS))[argc];
^~~~~~~~
Q_WS_X11
CMakeFiles/cmTC_cda14.dir/build.make:65: recipe for target 'CMakeFiles/cmTC_cda14.dir/CheckSymbolExists.cxx.o' failed
make[1]: *** [CMakeFiles/cmTC_cda14.dir/CheckSymbolExists.cxx.o] Error 1
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_cda14/fast' failed
make: *** [cmTC_cda14/fast] Error 2
File /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
/* */
#include <QtCore/qglobal.h>
int main(int argc, char** argv)
{
(void)argv;
#ifndef Q_WS_QWS
return ((int*)(&Q_WS_QWS))[argc];
#else
(void)argc;
return 0;
#endif
}
Determining if the Q_WS_MAC exist failed with the following output:
Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp
Run Build Command:"/usr/bin/make" "cmTC_bda42/fast"
/usr/bin/make -f CMakeFiles/cmTC_bda42.dir/build.make CMakeFiles/cmTC_bda42.dir/build
make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_bda42.dir/CheckSymbolExists.cxx.o
/usr/bin/c++ -I/usr/include/qt4 -fmessage-length=0 -fopenmp -o CMakeFiles/cmTC_bda42.dir/CheckSymbolExists.cxx.o -c /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx: In function ‘int main(int, char**)’:
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: error: ‘Q_WS_MAC’ was not declared in this scope
return ((int*)(&Q_WS_MAC))[argc];
^~~~~~~~
/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:8:19: note: suggested alternative: ‘Q_WS_X11’
return ((int*)(&Q_WS_MAC))[argc];
^~~~~~~~
Q_WS_X11
CMakeFiles/cmTC_bda42.dir/build.make:65: recipe for target 'CMakeFiles/cmTC_bda42.dir/CheckSymbolExists.cxx.o' failed
make[1]: *** [CMakeFiles/cmTC_bda42.dir/CheckSymbolExists.cxx.o] Error 1
make[1]: Leaving directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_bda42/fast' failed
make: *** [cmTC_bda42/fast] Error 2
File /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
/* */
#include <QtCore/qglobal.h>
int main(int argc, char** argv)
{
(void)argv;
#ifndef Q_WS_MAC
return ((int*)(&Q_WS_MAC))[argc];
#else
(void)argc;
return 0;
#endif
}
I managed to build it successfully, it was the way I removed the reference to Qt5 in /usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake. At first, I commented the lines out, now I have replaced Qt5 instances with Qt4. Please correct me if that is not the correct way to do it.
Somehow now when I try to launch rtabmap I get the same as @CluelessIT in his post above
nvidia@axtron-xavier:~/rtabmap/bin$ ./rtabmap ./rtabmap: error while loading shared libraries: libvtkGUISupportQt-6.3.so.6.3: cannot open shared object file: No such file or directory
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.
On my side, rtabmap is linked on libvtkGUISupportQt-6.3.so.1, not libvtkGUISupportQt-6.3.so.6.3. See full ldd log here:
$ ldd rtabmap | grep vtk
ldd 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.
rm rtabmap/build/CMakeCache.txt
EDIT Here are the symbolic links set for libvtk libraries as in the post above.
/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
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
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
~/rtabmap/build$ make [ 8%] Built target rtabmap_utilite [ 10%] Built target res_tool [ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o /home/cremzy/rtabmap/corelib/src/camera/CameraRealSense2.cpp: In member function ‘virtual bool rtabmap::CameraRealSense2::init(const string&, const string&)’: /home/cremzy/rtabmap/corelib/src/camera/CameraRealSense2.cpp:492:32: error: variable ‘std::ifstream in’ has initializer but incomplete type std::ifstream in(jsonConfig_); ^ corelib/src/CMakeFiles/rtabmap_core.dir/build.make:547: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o] Error 1 CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2
Current setup :
- Jetson Nano Jetpack 4.3 latest
- Intel Realsense D435i
Steps tooken:
-
installed realsense libraries https://www.jetsonhacks.com/2019/05/16/jetson-nano-realsense-depth-camera/ ./installDependencies ./installRealSense ./buildRealSense
-
Installed ros-melodic-desktop via apt-get
-
installed ros-melodic-rtabmap by apt-get and ros-melodic-rtabmap-ros
-
Uninstalled ros-melodic-cv-bridge
-
Uninstalled ros-meloidc-rtabmap
-
Installed rtabmap by git @ ~/rtabmap
-
cd ~/rtabmap/build
-
cmake .. --DWITH_QT=OFF
-
make
-
error
Goal My goal is to run my realsense D435i with SLAM preferably by ROS on the Jetson Nano platform.
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:
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>
#include <librealsense2/hpp/rs_processing.hpp>
#include <librealsense2/rs_advanced_mode.hpp>
#endif
to
#ifdef RTABMAP_REALSENSE2
#include <librealsense2/rs.hpp>
#include <librealsense2/rsutil.h>
#include <librealsense2/hpp/rs_processing.hpp>
#include <librealsense2/rs_advanced_mode.hpp>
#include <fstream>
#endif
Indeed as @tkircher shown, this has been fixed yesterday in this commit: https://github.com/introlab/rtabmap/commit/e83838f744fe95f77d35961e52539a61a76fbdec
Bonjour Mathieu,
I finally received my Xavier NX and it comes with JETPACK 4.4 I got stuck trying compiling VTK 6.3 with gcc (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) 7.5.0 and I don t really want to get back to older release :-(
Do you have any plan to update VTK to newer release and using QT5 soon ?
@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.
@tkircher oh great! Could you share the method to build ? That would be greatly appreciated
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.
@tkircher Thanks, I will give it a try What cmake command do you issue to build RTABMAP then ?
Incidentally, I got VTK 9.0.20200702 built and tested, and with a few modifications, got RTAB-Map built against it.
@matlabbe The only change that really needs to be made for VTK 9 is to replace QVTKWidget with QVTKOpenGLWidget, in guilib/include/rtabmap/gui/CloudViewer.h and guilib/src/CloudViewer.cpp. This could probably be conditional on VTK_MAJOR_VERSION > 7 since it's present in VTK 8, but QVTKWidget wasn't deprecated yet. Also, VTK_LEGACY_REMOVE has to be set for that one place it lives in the code.