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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Unable to launch GUI on Raspberry Pi 5 #1265

Closed Nathan-Pattison closed 2 months ago

Nathan-Pattison commented 2 months ago

raspberrypi:~ $ rtabmap libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ WARN] (2024-04-14 13:41:21.197) Parameters.cpp:1251::readINI() Section "Core" in /home/nathan/.rtabmap/rtabmap.ini doesn't exist... Ignore this warning if the ini file does not exist yet. The ini file will be automatically created when rtabmap will close. Program started... QWaylandGLContext: failed to create EGLContext, error=3009 QOpenGLWidget: Failed to create context QWaylandGLContext: failed to create EGLContext, error=3009 QOpenGLWidget: Failed to create context QWaylandGLContext: failed to create EGLContext, error=3009 qt.qpa.backingstore: composeAndFlush: QOpenGLContext creation failed QWaylandGLContext: failed to create EGLContext, error=3009 qt.qpa.backingstore: composeAndFlush: makeCurrent() failed

Is this an error in the RTAB-Map library or the Raspberry Pi 5's OpenGL graphics library? I compiled RTAB-Map from source. It's been working fine in C++ aside from creating a GUI window

matlabbe commented 2 months ago

Which OS/version are you using?

Maybe related post: https://github.com/colmap/colmap/issues/749

Nathan-Pattison commented 2 months ago

My Os/version is Linux raspberrypi 6.6.20+rpt-rpi-2712 #1 SMP PREEMPT Debian 1:6.6.20-1+rpt1 (2024-03-07) aarch64

The linked post doesn't seem to relate to the issue

nathan@raspberrypi:~ $ qmake -v QMake version 3.1 Using Qt version 5.15.8 in /usr/lib/aarch64-linux-gnu

nathan@raspberrypi:~ $ echo $QT_SELECTION /usr/bin/qmake

matlabbe commented 2 months ago

If you are okay with docker, you may try this: https://github.com/introlab/rtabmap_ros/issues/1141#issuecomment-2054324477 (same instructions should work on any arm32 or arm64)

However I don't recommend to visualize 3d stuff directly on the pi, but I would rather start rviz or rtabnapviz on a remote computer.

Nathan-Pattison commented 2 months ago

Is there somewhere I can read about rviz/rtabnapviz remote visualisation, or perhaps codebases that use it? There seems to be decent documentation on the ROS side but I'm using the C++ library directly.