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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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2.85k stars 788 forks source link

cannot find -lopencv_dep_cudart #269

Open QinZiwen opened 6 years ago

QinZiwen commented 6 years ago

when cmake it has a warning of qt5, but when make , the terminal show "/usr/bin/ld: cannot find -lopencv_dep_cudart"

$ cmake ..
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- 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
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found suitable exact version "8.0") 
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.4
-- Found Eigen: /usr/include/eigen3  
-- Eigen found (include: /usr/include/eigen3, version: 3.2.0)
-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.20
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- Found libusb-1.0: /usr/include  
-- Checking for module 'flann'
--   Found flann, version 1.8.4
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so  
-- FLANN found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp.so;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- FLANN found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp.so;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found Qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- Found PCL_2D: /usr/local/include/pcl-1.8  
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.8  
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so  
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp  
-- Found OpenMP
-- Found OpenCV: /usr/local/include/opencv;/usr/local/include
-- Found PCL: /usr/local/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/local/include/vtk-6.3
-- Found ZLIB: /usr/include
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:26 (find_package):
  Could not find a package configuration file provided by "Qt5Svg" with any
  of the following names:

    Qt5SvgConfig.cmake
    qt5svg-config.cmake

  Add the installation prefix of "Qt5Svg" to CMAKE_PREFIX_PATH or set
  "Qt5Svg_DIR" to a directory containing one of the above files.  If "Qt5Svg"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  CMakeLists.txt:223 (FIND_PACKAGE)

CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:35 (message):
  Failed to find Qt5 component "Svg" config file at
  "/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
  CMakeLists.txt:223 (FIND_PACKAGE)

-- Found Freenect: /opt/ros/indigo/include/libfreenect
CMake Warning at cmake_modules/FindKinectSDK2.cmake:71 (message):
  Directory "" not found.
Call Stack (most recent call first):
  cmake_modules/FindKinectSDK2.cmake:119 (check_dir)
  CMakeLists.txt:270 (FIND_PACKAGE)

-- KinectSDK2_FOUND : FALSE
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found CSPARSE: /usr/include/suitesparse  
-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse
-- Found cvsba: /usr/local/include
-- Found RealSense: /opt/ros/indigo/include
-- Found octomap: /opt/ros/indigo/include
-- 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 (dev) at /usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreMacros.cmake:224 (configure_file):
  configure_file called with unknown argument(s):

   COPY_ONLY

Call Stack (most recent call first):
  guilib/src/CMakeLists.txt:68 (QT5_ADD_RESOURCES)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- --------------------------------------------
-- Info :
--   Version : 0.15.0
--   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
--   With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = YES (License: GPLv2)
--   With libpointmatcher      = NO (libpointmatcher not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/turtlebot/ThridPKG/rtabmap/build
$ make -j8
Scanning dependencies of target rtabmap_utilite
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UVariant.cpp.o
[  5%] Linking CXX shared library ../../../bin/librtabmap_utilite.so
[  5%] Built target rtabmap_utilite
Scanning dependencies of target imagesJoiner
Scanning dependencies of target extractObject
Scanning dependencies of target res_tool
[  5%] Building CXX object utilite/resource_generator/CMakeFiles/res_tool.dir/main.cpp.o
[  5%] Building CXX object tools/ImagesJoiner/CMakeFiles/imagesJoiner.dir/main.cpp.o
[  5%] Building CXX object tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o
[  5%] Linking CXX executable ../../../bin/rtabmap-res_tool
[  5%] Built target res_tool
[  6%] [Creating resources]
 Using namespace=rtabmap
 Using target directory=/home/turtlebot/ThridPKG/rtabmap/build/corelib/src
Input file "/home/turtlebot/ThridPKG/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 5101 bytes
Output file "/home/turtlebot/ThridPKG/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 10423 bytes
Scanning dependencies of target rtabmap_core
[  7%] Linking CXX executable ../../../bin/rtabmap-imagesJoiner
/usr/bin/ld: cannot find -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
make[2]: *** [../bin/rtabmap-imagesJoiner] Error 1
make[1]: *** [tools/ImagesJoiner/CMakeFiles/imagesJoiner.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraRGB.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraRGBD.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraStereo.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 14%] Linking CXX executable ../../../bin/rtabmap-extractObject
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 15%] Built target extractObject
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o
/home/turtlebot/ThridPKG/rtabmap/corelib/src/util3d_surface.cpp: In function ‘pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr rtabmap::util3d::mls(const Ptr&, const IndicesPtr&, float, int, int, float, float, int, float, int)’:
/home/turtlebot/ThridPKG/rtabmap/corelib/src/util3d_surface.cpp:2593:29: warning: ‘void pcl::MovingLeastSquares<PointInT, PointOutT>::setPolynomialFit(bool) [with PointInT = pcl::PointXYZRGB; PointOutT = pcl::PointXYZRGBNormal]’ is deprecated (declared at /usr/local/include/pcl-1.8/pcl/surface/mls.h:356): [pcl::surface::MovingLeastSquares::setPolynomialFit] setPolynomialFit is deprecated. Please use setPolynomialOrder instead. [-Wdeprecated-declarations]
   mls.setPolynomialFit (true);
                             ^
/home/turtlebot/ThridPKG/rtabmap/corelib/src/util3d_surface.cpp:2598:30: warning: ‘void pcl::MovingLeastSquares<PointInT, PointOutT>::setPolynomialFit(bool) [with PointInT = pcl::PointXYZRGB; PointOutT = pcl::PointXYZRGBNormal]’ is deprecated (declared at /usr/local/include/pcl-1.8/pcl/surface/mls.h:356): [pcl::surface::MovingLeastSquares::setPolynomialFit] setPolynomialFit is deprecated. Please use setPolynomialOrder instead. [-Wdeprecated-declarations]
   mls.setPolynomialFit (false);
                              ^
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerTORO.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerGTSAM.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerCVSBA.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Registration.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationIcp.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationVis.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryThread.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryF2M.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryMono.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryF2F.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryFovis.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryViso2.cpp.o
[ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryDVO.cpp.o
[ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryORBSLAM2.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Stereo.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoDense.cpp.o
[ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoCameraModel.cpp.o
[ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OccupancyGrid.cpp.o
[ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GainCompensator.cpp.o
[ 32%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4.c.o
[ 32%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4hc.c.o
[ 32%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/FlannIndex.cpp.o
[ 33%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/sqlite3/sqlite3.c.o
[ 33%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/discrete_depth_distortion_model_helpers.cpp.o
[ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/discrete_depth_distortion_model.cpp.o
[ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/frame_projector.cpp.o
[ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/clams/slam_calibrator.cpp.o
[ 35%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/opencv/Orb.cpp.o
[ 35%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/opencv/solvepnp.cpp.o
[ 36%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/posegraph3.cpp.o
[ 36%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/treeoptimizer3_iteration.cpp.o
[ 36%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/treeoptimizer3.cpp.o
[ 37%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/posegraph2.cpp.o
[ 37%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/toro3d/treeoptimizer2.cpp.o
[ 38%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/vertigo/g2o/edge_se2Switchable.cpp.o
[ 38%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/vertigo/g2o/edge_se3Switchable.cpp.o
[ 38%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/vertigo/g2o/edge_switchPrior.cpp.o
[ 39%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/vertigo/g2o/types_g2o_robust.cpp.o
[ 39%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/vertigo/g2o/vertex_switchLinear.cpp.o
[ 40%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OctoMap.cpp.o
[ 40%] Linking CXX shared library ../../../bin/librtabmap_core.so
/usr/bin/ld: cannot find -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
make[2]: *** [../bin/librtabmap_core.so.0.15.0] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2
matlabbe commented 6 years ago

It seems you have built OpenCV with CUDA dependency. Make sure libopencv_dep_cudart.so is in a path of LD_LIBRARY_PATH.

QinZiwen commented 6 years ago

After opencv compile and install, there is no libopencv_dep_cudart.so in /usr/local/lib

QinZiwen commented 6 years ago

Fix this problem https://github.com/opencv/opencv/issues/6542

cmake -D CUDA_USE_STATIC_CUDA_RUNTIME=OFF ..

No error occurred during compilation， But there was an invalid pointer error during the test.

rtabmap/bin$ ./rtabmap
*** Error in `./rtabmap': realloc(): invalid pointer: 0x00007f1e8d3aa840 ***
Aborted (core dumped)
rtabmap/bin$ ./rtabmap-databaseViewer 
*** Error in `./rtabmap-databaseViewer': realloc(): invalid pointer: 0x00007f3fc0660840 ***
Aborted (core dumped)