matlabbe
commented
6 years ago Hi,
You should not have to modify the cmake files. When using ORB_SLAM2, you cannot link on g2o installed in /usr/local. When doing "cmake WITH_G2O=OFF WITH_ORB_SLAM2=ON ..", g2o version in ORB_SLAM2 (which is not compatible with g2o version installed by source) will be used instead. On runtime, you should make sure to add the path of g2o library built in ORB_SLAM2 library to LD_LIBRARY_PATH so that libg2o.so can be found:
rtabmap: error while loading shared libraries: libg2o.so: cannot open shared object file: No such file or directory
This is what I do in my .bashrc file:
$ export LD_LIBRARY_PATH=/home/mathieu/workspace/ORB_SLAM2/lib:/home/mathieu/workspace/ORB_SLAM2/Thirdparty/g2o/lib:/home/mathieu/workspace/ORB_SLAM2/Thirdparty/DBoW2/lib:$LD_LIBRARY_PATH
cheers, Mathieu
AnGPU
shenlan1994
Hi Mathieu after several attempts following this http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-td4230.html I managed to get the orb2 slam to be recognized in the cmake but after continuing the installation, trying to run rtabmap to set the odometry strategy I got this before anything works: "rtabmap: error while loading shared libraries: libg2o.so: cannot open shared object file: No such file or directory" but it is in the place pointed by the findORB_SLAM2.cmake I found almost similar situation with another libraries here and try sudo ldconfig but didn't work. I try to run in gdb with bt as seen in other issues if I could find more information but: (gdb) run Starting program: /usr/local/bin/rtabmap /usr/local/bin/rtabmap: error while loading shared libraries: libg2o.so: cannot open shared object file: No such file or directory [Inferior 1 (process 10258) exited with code 0177] (gdb) bt No stack. System: ubuntu 16.04 rtabmap: standalone 0.17.2
**edit* next step changing line 13 in findORB_SLAM2.cmake to: find_library(g2o_LIBRARY NAMES libg2o.so** PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib) that library is being recognized but in the make step, after relink types_sba.h,types_six_dof_expmap.h and linear_solver_eigen.h to the right path in lines 73, 74, 75 respectively in OptimizerG2O.cpp, crash at 6% within building:
[ 6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o /home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp: In member function ‘virtual bool rtabmap::EdgeSE3Expmap::setMeasurementData(const double)’: /home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:794:24: error: ISO C++ forbids declaration of ‘type name’ with no type [-fpermissive] Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:794:37: error: template argument 1 is invalid
Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:794:42: error: invalid conversion from ‘const double ’ to ‘int’ [-fpermissive]
Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:795:32: error: no matching function for call to ‘g2o::SE3Quat::fromVector(int&)’
_measurement.fromVector(v);
^
In file included from /usr/local/include/g2o/types/sba/sbacam.h:46:0,
from /usr/local/include/g2o/types/sba/types_sba.h:33,
from /home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:73:
/usr/local/include/g2o/types/slam3d/se3quat.h:145:19: note: candidate: void g2o::SE3Quat::fromVector(const Vector7&)
inline void fromVector(const Vector7& v){
^
/usr/local/include/g2o/types/slam3d/se3quat.h:145:19: note: no known conversion for argument 1 from ‘int’ to ‘const Vector7& {aka const Eigen::Matrix<double, 7, 1, 0, 7, 1>&}’
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp: In member function ‘virtual bool rtabmap::EdgeSE3Expmap::getMeasurementData(double) const’:
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:801:18: error: ‘Vector7d’ is not a member of ‘g2o’
Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:801:18: error: ‘Vector7d’ is not a member of ‘g2o’
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:801:31: error: template argument 1 is invalid
Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:801:36: error: invalid conversion from ‘double ’ to ‘int’ [-fpermissive]
Eigen::Map v(d);
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:802:9: error: cannot convert ‘g2o::Vector7 {aka Eigen::Matrix<double, 7, 1, 0, 7, 1>}’ to ‘int’ in assignment
v = measurement.toVector();
^
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp: In member function ‘virtual std::map<int, rtabmap::Transform> rtabmap::OptimizerG2O::optimizeBA(int, const std::map<int, rtabmap::Transform>&, const std::multimap<int, rtabmap::Link>&, const std::map<int, rtabmap::CameraModel>&, std::map<int, cv::Point3 >&, const std::map<int, std::map<int, cv::Point3_ > >&, std::set)’:
/home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:907:104: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType&)’
w g2o::OptimizationAlgorithmLevenberg(new g2o::BlockSolver_6_3(linearSolver)));
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/antonioguerrero/rtabmap/corelib/src/OptimizerG2O.cpp:43:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1027: fallo en las instrucciones para el objetivo 'corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o'
**edit2*** to solve problems of OptimizerG2O.cpp from 794 to 802 correct the code this way: Eigen::Map -> Eigen::Map
still workin on problem line 907