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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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double free or corruption (Ubuntu 18.04 / ROS Melodic) #343

Closed matlabbe closed 5 years ago

matlabbe commented 5 years ago 
$ ./rtabmap
double free or corruption (out)
Aborted (core dumped)

GDB output:

gdb ./rtabmap
GNU gdb (Ubuntu 8.1-0ubuntu3) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from ./rtabmap...(no debugging symbols found)...done.
(gdb) run
Starting program: /home/mathieu/workspace/rtabmap/bin/rtabmap 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffb4710700 (LWP 16206)]
double free or corruption (out)

Thread 1 "rtabmap" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51  ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  0x00007ffff4ed5e97 in __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff4ed7801 in __GI_abort () at abort.c:79
#2  0x00007ffff4f20897 in __libc_message (action=action@entry=do_abort, fmt=fmt@entry=0x7ffff504db9a "%s\n")
    at ../sysdeps/posix/libc_fatal.c:181
#3  0x00007ffff4f2790a in malloc_printerr (str=str@entry=0x7ffff504f870 "double free or corruption (out)") at malloc.c:5350
#4  0x00007ffff4f2ee75 in _int_free (have_lock=0, p=0x555555d12390, av=0x7ffff5282c40 <main_arena>) at malloc.c:4278
#5  0x00007ffff4f2ee75 in __GI___libc_free (mem=0x555555d123a0) at malloc.c:3124
#6  0x00007fffeb8bba6d in g2o::EdgeProjectP2MC_Intrinsics::~EdgeProjectP2MC_Intrinsics() ()
    at /opt/ros/melodic/lib/libg2o_types_sba.so
#7  0x00007fffeb8b553e in  () at /opt/ros/melodic/lib/libg2o_types_sba.so
#8  0x00007ffff7de5733 in call_init (env=0x7fffffffdda8, argv=0x7fffffffdd98, argc=1, l=<optimized out>) at dl-init.c:72
#9  0x00007ffff7de5733 in _dl_init (main_map=0x7ffff7ffe170, argc=1, argv=0x7fffffffdd98, env=0x7fffffffdda8) at dl-init.c:119
#10 0x00007ffff7dd60ca in _dl_start_user () at /lib64/ld-linux-x86-64.so.2
#11 0x0000000000000001 in  ()
#12 0x00007fffffffe122 in  ()
#13 0x0000000000000000 in  ()
matlabbe commented 5 years ago

If we look at the cmake of rtabmap, on this system PCL is built with -march=native compile option:

$ cd rtabmap/build
$ cmake ..
...
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_COMPILE_OPTIONS = -march=native;-msse4.2;-mfpmath=sse
...

We have to rebuilt g2o from source with BUILD_WITH_MARCH_NATIVE option enabled:

$ sudo apt remove ros-melodic-libg2o
$ git clone https://github.com/RainerKuemmerle/g2o.git
$ cd g2o
$ git checkout 20170730_git
$ mkdir build
$ cd build
$ cmake -DBUILD_WITH_MARCH_NATIVE=ON ..
$ make -j4
$ sudo make install

Then rebuild rtabmap. Note that this approach can apply to other dependencies requiring EIgen like libpointmatcher (with libnabo) and gtsam. They should all be built with -march=native if PCL has been built with this compile option.

likairanran commented 2 years ago

Excuse me ,I want to see the real reason for this "double free "issue .

likairanran commented 2 years ago

Does it have sth to do with "memory alignment",I wonder more,Thanks.

matlabbe commented 2 years ago

This post https://github.com/David-Willo/eigen_catkin/wiki/Eigen-Memory-Issues explains many pitfalls when using eigen and memory alignment issues.

an99990 commented 1 year ago

currently have this issue with rtbamap 0.21 and master branch of g2o. solution did not work for me

matlabbe commented 1 year ago

Just tried with latest g2o and cannot reproduce this error. Try launching in gdb and show backtrace.

$ gdb rtabmap
#wait for crash, then type bt
$ bt
an99990 commented 1 year ago

image

my cmake config 

- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (USB_10)
  does not match the name of the calling package (OpenNI).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake:28 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:179 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:322 (find_openni)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
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-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-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-7.1/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-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
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-7.1/VTKTargets.cmake"
but not all the files it references.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (libusb-1.0)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:291 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:338 (find_libusb)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (USB_10)
  does not match the name of the calling package (OpenNI).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake:28 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:179 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:322 (find_openni)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_COMMON)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_OCTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_IO)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_KDTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_SEARCH)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SURFACE) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FILTERS) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_2D)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:619 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FEATURES) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_REGISTRATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SAMPLE_CONSENSUS) does not match the name of the calling package
  (PCL).  This can lead to problems in calling code that expects
  `find_package` result variables (e.g., `_FOUND`) to follow a certain
  pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_GEOMETRY) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:619 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_ML)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SEGMENTATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/local/share/cmake-3.26/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_VISUALIZATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:616 (find_package_handle_standard_args)
  CMakeLists.txt:234 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- 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/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP: /usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o (targets)
-- g2o include dir: /usr/local/include/g2o/core;/usr/local/include
-- Latest g2o factory version detected with shared ptr (factory file: /usr/local/include/g2o/core/factory.h).
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- 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 Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic 
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono timer serialization atomic 
-- Architecture: x86_64
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.21.0
--   CMAKE_VERSION =        3.26.3
--   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++17
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.10.0
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
--   With Qt 5.12.8            = YES (License: Open Source or Commercial)
--   With VTK 7.1              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = NO (WITH_TORCH=OFF)
--   With Python3              = NO (WITH_PYTHON=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o 1.0.0            = YES (License: BSD)
--  *With GTSAM 4.0.3          = YES (License: BSD)
--  *With Ceres                = NO (WITH_CERES=OFF)
--   With MRPT                 = NO (MRPT not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher      = NO (libpointmatcher not found)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
--   With OpenGV               = NO (WITH_OPENGV=OFF)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = NO (octomap not found)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = NO (libfreenect not found)
--   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 Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = NO (librealsense2 not found)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (WITH_DEPTHAI=OFF)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done (0.7s)
-- Generating done (0.7s)
an99990 commented 1 year ago

solution was to built PCL again, and gtsam using eigen system version cmake -DGTSAM_USE_SYSTEM_EIGEN=ON