3D map is not loading (jetson nano)

[aguilaair]

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!

[aguilaair]

Here is how it looks

[matlabbe]

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.

[aguilaair]

Ok, thank you for the info. Keep me updated!

[matlabbe]

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:

1. Install/uninstall ros-melodic-rtabmap-ros to get all dependencies installed:

   $ sudo apt install ros-melodic-rtabmap-ros
   $ sudo apt remove ros-melodic-rtabmap

2. 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 ..

3. 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

4. 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/.

5. Copy cmake modules from the temporary install directory if built from source, or use cmake files from zip above:
```bash
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/.

6. 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.

7. 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

8. Install optional rtabmap depdencies (like GTSAM, realsense, libpointmatcher, zed, etc.)

9. Build RTAB-Map with same Qt version (4) used by VTK (use latest rtabmap from source to have `RTABMAP_QT_VERSION` option):
```bash
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_ros from 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.6.3.0 from /opt/ros/melodic/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake (to avoid rtabmap_ros compilation 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.

[Nap2501]

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

```shell ~/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". ```

all the procedure went good, except on part 6:

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

[matlabbe]

Just to run rtabmap from rtabmap/bin directory, you have to do ./rtabmap, not rtabmap:

cd rtabmap/bin
./rtabmap

[Nap2501]

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

```shell 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

```shell Scanning dependencies of target rtabmap_utilite [ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o [ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o [ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o [ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o [ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o [ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o [ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o [ 5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o [ 6%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o [ 7%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o [ 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 [ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense.cpp.o [ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o [ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRGBDImages.cpp.o [ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoDC1394.cpp.o [ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoFlyCapture2.cpp.o [ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoImages.cpp.o [ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o [ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o [ 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::filterDirectly(pcl::ExtractIndices::PointCloudPtr&) [with PointT = pcl::PointNormal; pcl::ExtractIndices::PointCloudPtr = boost::shared_ptr >]’: /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::applyFilter(pcl::ExtractIndices::PointCloud&) [with PointT = pcl::PointNormal; pcl::ExtractIndices::PointCloud = pcl::PointCloud]’: /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::applyFilter(pcl::ExtractIndices::PointCloud&) [with PointT = pcl::PointXYZRGBNormal; pcl::ExtractIndices::PointCloud = pcl::PointCloud]’: /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::applyFilter(pcl::ExtractIndices::PointCloud&) [with PointT = pcl::PointXYZRGB; pcl::ExtractIndices::PointCloud = pcl::PointCloud]’: /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::applyFilter(pcl::ExtractIndices::PointCloud&) [with PointT = pcl::PointXYZ; pcl::ExtractIndices::PointCloud = pcl::PointCloud]’: /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::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(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(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::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(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(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::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(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(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 -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/Win32/UThreadC.h -- 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 -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UFile.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UThread.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UProcessInfo.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/utilite/UEventsManager.h -- 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 -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoTara.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraOpenni.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoFlyCapture2.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoVideo.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoImages.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraRGBDImages.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraK4A.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraStereoZed.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/camera/CameraK4W2.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OctoMap.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/StereoDense.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Transform.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Link.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/GainCompensator.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/DBDriver.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/VisualWord.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/ParamEvent.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/OdometryThread.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/BayesFilter.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/ParticleFilter.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/Optimizer.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/util3d_filtering.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerG2O.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerTORO.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerGTSAM.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerCeres.h -- Installing: /usr/local/include/rtabmap-0.19/rtabmap/core/optimizer/OptimizerCVSBA.h -- Installing: /usr/local/bin/rtabmap-console -- Set runtime path of "/usr/local/bin/rtabmap-console" to "" -- Installing: /usr/local/bin/rtabmap-extractObject -- Set runtime path of "/usr/local/bin/rtabmap-extractObject" to "" -- Installing: /usr/local/bin/rtabmap-camera -- Set runtime path of "/usr/local/bin/rtabmap-camera" to "" -- Installing: /usr/local/bin/rtabmap-kitti_dataset -- Set runtime path of "/usr/local/bin/rtabmap-kitti_dataset" to "" -- Installing: /usr/local/bin/rtabmap-rgbd_dataset -- Set runtime path of "/usr/local/bin/rtabmap-rgbd_dataset" to "" -- Installing: /usr/local/bin/rtabmap-euroc_dataset -- Set runtime path of "/usr/local/bin/rtabmap-euroc_dataset" to "" -- Installing: /usr/local/bin/rtabmap-recovery -- Set runtime path of "/usr/local/bin/rtabmap-recovery" to "" -- Installing: /usr/local/bin/rtabmap-reprocess -- Set runtime path of "/usr/local/bin/rtabmap-reprocess" to "" -- Installing: /usr/local/bin/rtabmap-detectMoreLoopClosures -- Set runtime path of "/usr/local/bin/rtabmap-detectMoreLoopClosures" to "" ```

[matlabbe]

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?

[aguilaair]

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!

[matlabbe]

The issue was related to rtabmapviz. Rviz should work directly without any recompilation on rtabmap side.

[zzxxtt]

All jetson with ubuntu 18.04 have the same problem, including TX2, AGX. Are there any better way to solve it now?

[axeotron]

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.

[CluelessIT]

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?

[matlabbe]

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

[matlabbe]

@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.

[tkircher]

@matlabbe I also made a post here about my own experiences getting ROS working under Jetpack 4.3.

[a-xtron]

@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. 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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: [gcc;gcc_s;c;gcc;gcc_s] implicit dirs: [/usr/lib/gcc/aarch64-linux-gnu/7;/usr/lib/aarch64-linux-gnu;/usr/lib;/lib/aarch64-linux-gnu;/lib] implicit fwks: [] Detecting C [-std=c11] compiler features compiled with the following output: Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp Run Build Command:"/usr/bin/make" "cmTC_44cf3/fast" /usr/bin/make -f CMakeFiles/cmTC_44cf3.dir/build.make CMakeFiles/cmTC_44cf3.dir/build make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp' Building C object CMakeFiles/cmTC_44cf3.dir/feature_tests.c.o /usr/bin/cc -std=c11 -o CMakeFiles/cmTC_44cf3.dir/feature_tests.c.o -c 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Feature record: CXX_FEATURE:1cxx_sizeof_member Feature record: CXX_FEATURE:1cxx_static_assert Feature record: CXX_FEATURE:1cxx_strong_enums Feature record: CXX_FEATURE:1cxx_template_template_parameters Feature record: CXX_FEATURE:1cxx_thread_local Feature record: CXX_FEATURE:1cxx_trailing_return_types Feature record: CXX_FEATURE:1cxx_unicode_literals Feature record: CXX_FEATURE:1cxx_uniform_initialization Feature record: CXX_FEATURE:1cxx_unrestricted_unions Feature record: CXX_FEATURE:1cxx_user_literals Feature record: CXX_FEATURE:0cxx_variable_templates Feature record: CXX_FEATURE:1cxx_variadic_macros Feature record: CXX_FEATURE:1cxx_variadic_templates Detecting CXX [-std=c++98] compiler features compiled with the following output: Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp Run Build Command:"/usr/bin/make" "cmTC_7efac/fast" /usr/bin/make -f CMakeFiles/cmTC_7efac.dir/build.make CMakeFiles/cmTC_7efac.dir/build make[1]: Entering directory 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CXX_FEATURE:1cxx_template_template_parameters Feature record: CXX_FEATURE:0cxx_thread_local Feature record: CXX_FEATURE:0cxx_trailing_return_types Feature record: CXX_FEATURE:0cxx_unicode_literals Feature record: CXX_FEATURE:0cxx_uniform_initialization Feature record: CXX_FEATURE:0cxx_unrestricted_unions Feature record: CXX_FEATURE:0cxx_user_literals Feature record: CXX_FEATURE:0cxx_variable_templates Feature record: CXX_FEATURE:0cxx_variadic_macros Feature record: CXX_FEATURE:0cxx_variadic_templates Determining if the include file pthread.h exists passed with the following output: Change Dir: /home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp Run Build Command:"/usr/bin/make" "cmTC_c8c7e/fast" /usr/bin/make -f CMakeFiles/cmTC_c8c7e.dir/build.make CMakeFiles/cmTC_c8c7e.dir/build make[1]: Entering directory '/home/nvidia/rtabmap/build/CMakeFiles/CMakeTmp' Building C object CMakeFiles/cmTC_c8c7e.dir/CheckIncludeFile.c.o /usr/bin/cc -fmessage-length=0 -o 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specs.] ignore line: [COLLECT_GCC=/usr/bin/c++] ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/aarch64-linux-gnu/7/lto-wrapper] ignore line: [Target: aarch64-linux-gnu] ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu/Linaro 7.5.0-3ubuntu1~18.04' --with-bugurl=file:///usr/share/doc/gcc-7/README.Bugs --enable-languages=c,ada,c++,go,d,fortran,objc,obj-c++ --prefix=/usr --with-gcc-major-version-only --program-suffix=-7 --program-prefix=aarch64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-bootstrap --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-libquadmath --disable-libquadmath-support --enable-plugin --enable-default-pie --with-system-zlib --enable-multiarch --enable-fix-cortex-a53-843419 --disable-werror --enable-checking=release --build=aarch64-linux-gnu --host=aarch64-linux-gnu --target=aarch64-linux-gnu] ignore line: [Thread model: posix] ignore line: [gcc version 7.5.0 (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) ] ignore line: [COMPILER_PATH=/usr/lib/gcc/aarch64-linux-gnu/7/:/usr/lib/gcc/aarch64-linux-gnu/7/:/usr/lib/gcc/aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/7/:/usr/lib/gcc/aarch64-linux-gnu/] ignore line: [LIBRARY_PATH=/usr/lib/gcc/aarch64-linux-gnu/7/:/usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu/:/usr/lib/gcc/aarch64-linux-gnu/7/../../../../lib/:/lib/aarch64-linux-gnu/:/lib/../lib/:/usr/lib/aarch64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/aarch64-linux-gnu/7/../../../:/lib/:/usr/lib/] ignore line: [Reading specs from /usr/lib/gcc/aarch64-linux-gnu/7/libgomp.spec] ignore line: [COLLECT_GCC_OPTIONS='-fmessage-length=0' '-fopenmp' '-v' '-rdynamic' '-o' 'cmTC_0fda5' '-v' '-shared-libgcc' '-mlittle-endian' '-mabi=lp64' '-pthread'] link line: [ /usr/lib/gcc/aarch64-linux-gnu/7/collect2 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-L/usr/lib/gcc/aarch64-linux-gnu/7/../../.. CMakeFiles/cmTC_0fda5.dir/OpenMPTryFlag.cpp.o -lstdc++ -lm -lgomp -lgcc_s -lgcc -lpthread -lc -lgcc_s -lgcc /usr/lib/gcc/aarch64-linux-gnu/7/crtendS.o /usr/lib/gcc/aarch64-linux-gnu/7/../../../aarch64-linux-gnu/crtn.o] 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 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 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 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 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 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.

[matlabbe]

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

```bash 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

[a-xtron]

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

[Cremzy]

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:

1. installed realsense libraries https://www.jetsonhacks.com/2019/05/16/jetson-nano-realsense-depth-camera/ ./installDependencies ./installRealSense ./buildRealSense

2. Installed ros-melodic-desktop via apt-get

3. installed ros-melodic-rtabmap by apt-get and ros-melodic-rtabmap-ros

4. Uninstalled ros-melodic-cv-bridge

5. Uninstalled ros-meloidc-rtabmap

6. Installed rtabmap by git @ ~/rtabmap

7. cd ~/rtabmap/build

8. cmake .. --DWITH_QT=OFF

9. make

10. error

Goal My goal is to run my realsense D435i with SLAM preferably by ROS on the Jetson Nano platform.

[tkircher]

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

[matlabbe]

Indeed as @tkircher shown, this has been fixed yesterday in this commit: https://github.com/introlab/rtabmap/commit/e83838f744fe95f77d35961e52539a61a76fbdec

[patrickpoirier51]

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 ?

[tkircher]

@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.

[patrickpoirier51]

@tkircher oh great! Could you share the method to build ? That would be greatly appreciated

[tkircher]

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.

[patrickpoirier51]

@tkircher Thanks, I will give it a try What cmake command do you issue to build RTABMAP then ?

[tkircher]

cmake ..

[patrickpoirier51]

LOL !!! Hard to make it simpler :-) Thanks I'll report back

[tkircher]

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.

[Redyiyi]

I'm sorry that I have some questions. I'm new to Jetson Nano and I want to "Remove all references to Qt5 stuff in VTKTargets.cmake......", but I have some problems now. It will be appreciated if anyone tells me how to solve these problems... First, these cmake files are read-only and I don't know how to remove the references in .cmake... Second, which references are associated with Qt5? Are the sentences which contain "Qt5"? Or anything else?

[s3668134]

Hi,

I was getting this issue when running the make command after executing the cmake

make[2]: *** No rule to make target '/usr/lib/aarch64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0', needed by '../bin/librtabmap_core.so.0.20.6'. Stop. 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

I checked the /usr/lib/aarch64-linux-gnu/ folder for the files and it currently points this file libvtkGUISupportQt-6.3.so.6.3.0 -> libvtkGUISupportQt-6.3.so.1 so I am not sure as to how I can solve this issue.

One thing that could've caused this issue is "removing all references to Qt5 stuff in /usr/lib/cmake/vtk-6.3/VTKTargets.cmake and /usr/lib/cmake/vtk-6.3/VTKTargets-none.cmake" as I wasn't sure which ones to remove specifically.

If anyone could help me on how to solve this error, it would be very much appreciated.

[marcostrullato]

Hi everyone, is anyone of you so kind to assemble a dockerfile with the steps? I'm going to start working on it, however saving time would be nice.

[matlabbe]

For the "Remove all references to Qt5 stuff in VTKTargets.cmake......" problem, if copy/paste of the prebuilt files don't work anymore and it is not enough clear to remove all Qt5 related stuff from VTK files (because of a new jetpack for example), as stated in the post, the main step to follow is "Build VTK 6.3.0 from source with Qt4 (not Qt5!)". You can rebuild VTK with Qt4, then PCL with that VTK, then Rtabmap with that PCL version.

[ChemicalNRG]

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.

Can you explain how you did this? I am using an AGX with 30GB onboard storage and with de QT5 source on a network drive the build of QT5.14 alone is more than 14GB. It cancelled because there was no space left so maybe it is even 20GB or more. And following the directions you cant use make install, so i cant build it on the NAS and then use make install.

[tkircher]

@ChemicalNRG I recommend installing a 512GB NVMe drive. The onboard 32GB eMMC is only intended to be a boot volume.

[ChemicalNRG]

@ChemicalNRG I recommend installing a 512GB NVMe drive. The onboard 32GB eMMC is only intended to be a boot volume.

I was already looking for that indeed, but because this is a jetson nano topic which dont have that possibility and also the qt5 files which are installed with ros or rtabmap are using much less space, i thought maybe i was doing something wrong or it can be installed with less space needed.

[VisionaryMind]

I am encountering issues running slam_rtabmap.launch for Azure Kinect on Jetson Nano with Jetpack 4. Here are the steps taken:

1. Installed Azure Kinect SDK and ran k4aviewer successfully.
2. Installed ros-melodic-desktop via apt-get
3. Created workspace and git cloned BrutusTT/vision_opencv.git and ros-perception/image_transport_plugins
4. Installed ros-melodic-rtabmap and ros-melodic-rtabmap-ros via apt-get
5. Uninstalled ros-melodic-cv-bridge
6. Uninstalled ros-melodic-rtabmap
7. Built standalone rtabmap WITH_QT=OFF and "sudo make install" to usr/local

I am able to "rosrun rviz rviz" and then "roslaunch azure_kinect_ros_driver driver.launch", however nothing appears in RVIZ. Further, if I attempt to "roslaunch azure_kinect_ros_driver slam_rtabmap.launch rviz:=true", it connects to the Kinect camera, however throws the following error:

[ERROR] [1609349860.812967146]: Failed to load nodelet [/k4a/rectify_rgb] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/imu_to_tf rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_assembler rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgb_sync rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_relay rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth [ERROR] [1609349860.813439970]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/imu_to_tf rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_assembler rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgb_sync rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_relay rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth [FATAL] [1609349860.814003056]: Failed to load nodelet '/k4a/rectify_rgbof typeimage_proc/rectifyto managermanager'

I attempted to "sudo ldconfig", but this did not help. Why doesn't ROS see the image_proc/rectify class? What have I missed?

[ChemicalNRG]

I am encountering issues running slam_rtabmap.launch for Azure Kinect on Jetson Nano with Jetpack 4. Here are the steps taken:

1. Installed Azure Kinect SDK and ran k4aviewer successfully.
2. Installed ros-melodic-desktop via apt-get
3. Created workspace and git cloned BrutusTT/vision_opencv.git and ros-perception/image_transport_plugins
4. Installed ros-melodic-rtabmap and ros-melodic-rtabmap-ros via apt-get
5. Uninstalled ros-melodic-cv-bridge
6. Uninstalled ros-melodic-rtabmap
7. Built standalone rtabmap WITH_QT=OFF and "sudo make install" to usr/local

I am able to "rosrun rviz rviz" and then "roslaunch azure_kinect_ros_driver driver.launch", however nothing appears in RVIZ. Further, if I attempt to "roslaunch azure_kinect_ros_driver slam_rtabmap.launch rviz:=true", it connects to the Kinect camera, however throws the following error:

[ERROR] [1609349860.812967146]: Failed to load nodelet [/k4a/rectify_rgb] of type [image_proc/rectify] even after refreshing the cache: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/imu_to_tf rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_assembler rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgb_sync rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_relay rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth [ERROR] [1609349860.813439970]: The error before refreshing the cache was: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are Azure_Kinect_ROS_Driver/K4AROSBridgeNodelet nodelet_tutorial_math/Plus pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/icp_odometry rtabmap_ros/imu_to_tf rtabmap_ros/obstacles_detection rtabmap_ros/obstacles_detection_old rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_assembler rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/pointcloud_to_depthimage rtabmap_ros/rgb_sync rtabmap_ros/rgbd_odometry rtabmap_ros/rgbd_relay rtabmap_ros/rgbd_sync rtabmap_ros/rgbdicp_odometry rtabmap_ros/rtabmap rtabmap_ros/stereo_odometry rtabmap_ros/stereo_sync rtabmap_ros/stereo_throttle rtabmap_ros/undistort_depth [FATAL] [1609349860.814003056]: Failed to load nodelet '/k4a/rectify_rgbof typeimage_proc/rectifyto managermanager'

I attempted to "sudo ldconfig", but this did not help. Why doesn't ROS see the image_proc/rectify class? What have I missed?

I have had the same problem. Check if k4aviewer is working without sudo.

1. Could be that you didnt copy the file "99-k4a.rules" in /etc/udev/rules.d (k4aviewer will only see the camera when you do "sudo k4aviewer")
2. Could be that a program that started the kinect did not stop it correctly. (reconnect the usb of the kinect, if thats the problem k4aviewer cant connect to it either)
3. Could be you are using usb 2 or an usb 3 connection that does not work well with the kinect. (but if k4aviewer is working that is not likely)
4. Could be that you did not install Azure Kinect ROS Driver (git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git in your catkin source folder) OR did not source your catkin workplace so ROS cant find the driver (you can check this with "echo $ROS_PACKAGE_PATH", which should return your catkin workplace and the ros folder in /opt)

I also recommend that you use the slam_rtabmap.launch that Matlabbe edited if you not do that already. If you do, you have to install ros-melodic-imu-filter-madgwick in order for it to work. The edit is a huge improvement over the original file, for me the difference between no pointcloud at all (with a lattepanda alpha 864) and a really good pointcloud.

[ChemicalNRG]

The most rediculous thing is that everyone with a jetson, is trying to make rtabmap and or ROS work with the included opencv version (me included), because we all think it is build with cuda support, while it is most likely not. I found that on another forum and searched it up and indeed there are many reports that the NVIDIA SDK manager failes in delivering an opencv version with cuda support. You can check this with jtop (sudo -H pip install -U jetson-stats) do a reboot after that and start with "jtop" Or with python:

1. import cv2
2. print cv2.getBuildInformation()

I just builded opencv4.5.1 with cuda and all other options on, and it is a huge improvement with Rtabmap + Azure Kinect + Jetson AGX + config file of Matlabbe from this post

[tkircher]

It's true, the default system libraries on Jetpack 4.4 leave much to be desired.

[VisionaryMind]

The first thing I did before even attempting this project was to compile OpenCV with CUDA support. I believe the problem here is that Jetson Nano is simply unable to accommodate a K4A stream. For that matter, it is really unable to accommodate any stream, including from RealSense cameras, which either lock it up or cause it to turn off spontaneously. I am reluctant to purchase a Jetson AGX, since it will likely suffer from the same shortcomings of all other NVDIA IoT devices. Glad to hear AGX performs better, though I would sooner go with an Intel NUC or something else that is more fit for heavy-lifting.

I finally tabled even trying to get RTtabMap working on Jetson Nano today when seeing, in RViz, that it begins to drop frames about 60 seconds into capture. It couldn't even generate more than a single point cloud without locking up / freezing. I chalk this up to both lacking hardware (Azure Kinect) combined with insufficient memory and GPU power (Nano). I will likely be returning the Azure Kinect while still within the 30-day purchase window. Unless anyone here has achieved anything interesting with it and can share some compelling results -- I find it to be underperforming and overpriced. At least Realsense camera price more or less directly reflects quality. The Nano, on the other hand, emphasizes Kinect's weaknesses, as it is not fit for hardcore IoT applications and, in most benchmarks we have run, is actually much slower than an RPi4 running native Ubuntu 20.10.

I believe we should all question the viability of these cheap consumer IoT devices. They have not delivered, nor do their manufacturers stand behind them, as you have pointed out. Of all the tests we have run, Dot3D Pro paired with a D455 generated the most high-quality results, but it comes with a price tag. And that's with RealSense device, which are known for to be the noisiest depth cameras in the industry. I have not yet seen any evidence that Azure Kinect can provide any valuable data. It's a marketing ploy by Microsoft to give the impression they are committed to IoT. Their lack of support and an all but non-existent SDK proves their heart isn't in it.

This little experiment with RTapMap has been useful, if for nothing more than having shown our team that the time for consumer IoT has not yet come, and the big companies like Intel and Microsoft are just pandering to hobbyists.

[VisionaryMind]

Just a few clarifications here, before I tag this topic as unresolvable:

I have had the same problem. Check if k4aviewer is working without sudo.

K4aViewer works perfectly fine without sudo, the 99-k4a.rules were copied to /etc/udev/rules.d. In fact, the viewer works fine on Nano. No lock-ups. It is ROS that cannot handle K4a, and to be honest, I haven't seen any evidence of anyone getting it work work aside from some advice on what to install. No screenshot, it's as good as theory.

3. Could be you are using usb 2 or an usb 3 connection that does not work well with the kinect. (but if k4aviewer is working that is not likely)

I am using exclusively one of the four Jetson Nano B01 ports that are USB3.

4. Could be that you did not install Azure Kinect ROS Driver (git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git in your catkin source folder) OR did not source your catkin workplace so ROS cant find the driver (you can check this with "echo $ROS_PACKAGE_PATH", which should return your catkin workplace and the ros folder in /opt)

No, I can run "roslaunch azure_kinect_ros_driver driver.launch", open RViz, and subscribe to its Pointcloud2 topic. It will display one point cloud and then the mouse will start to lag and eventually freeze, and the console will say "queue full". In other words --- ROS simply doesn't work with Azure Kinect and Nano --- period.

I also recommend that you use the slam_rtabmap.launch that Matlabbe edited if you not do that already. If you do, you have to install ros-melodic-imu-filter-madgwick in order for it to work. The edit is a huge improvement over the original file, for me the difference between no pointcloud at all (with a lattepanda alpha 864) and a really good pointcloud.

That was also the first thing I applied. It makes no difference. Just to re-iterate, the probem is not hardware or configuration related. Everything is setup properly. RTabMap-ROS can't find the image_proc/rectify class. That is what the error is showing, and this particular error has never been seen nor addressed before, which is why I brought it up here. Go and search Google for it. Apart from there being close to nothing on "Jetson Nano" + "Azure Kinect" and "RtabMap", this particular error has surfaced, but not in this particular context.

My hope was that someone in the Introlab repository would actually know the code deeply enough to immediately see what the problem is. It's becoming gradually clear to me that all of these tools have just been glued together with sticky notes.

[ChemicalNRG]

I am glad i found that at least. If i didnt had all these problems i most likely never used the true potential of the AGX, because .. who would think that libraries created/compiled by nvidia, for a development board of nvidia, does not include cuda support :p

Also, i believe the reports of this issue also include Jetpacks before 4.4 but i am not sure.

[tkircher]

Strictly speaking, Jetpack is just generic arm64 Ubuntu plus the firmware required for the system to boot, CUDA, L4T, TensorRT, etc., NVidia doesn't actually provide OpenCV libraries.

[ChemicalNRG]

Just a few clarifications here, before I tag this topic as unresolvable:

I have had the same problem. Check if k4aviewer is working without sudo.

K4aViewer works perfectly fine without sudo, the 99-k4a.rules were copied to /etc/udev/rules.d. In fact, the viewer works fine on Nano. No lock-ups. It is ROS that cannot handle K4a, and to be honest, I haven't seen any evidence of anyone getting it work work aside from some advice on what to install. No screenshot, it's as good as theory.

1. Could be you are using usb 2 or an usb 3 connection that does not work well with the kinect. (but if k4aviewer is working that is not likely)

I am using exclusively one of the four Jetson Nano B01 ports that are USB3.

1. Could be that you did not install Azure Kinect ROS Driver (git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git in your catkin source folder) OR did not source your catkin workplace so ROS cant find the driver (you can check this with "echo $ROS_PACKAGE_PATH", which should return your catkin workplace and the ros folder in /opt)

No, I can run "roslaunch azure_kinect_ros_driver driver.launch", open RViz, and subscribe to its Pointcloud2 topic. It will display one point cloud and then the mouse will start to lag and eventually freeze, and the console will say "queue full". In other words --- ROS simply doesn't work with Azure Kinect and Nano --- period.

I also recommend that you use the slam_rtabmap.launch that Matlabbe edited if you not do that already. If you do, you have to install ros-melodic-imu-filter-madgwick in order for it to work. The edit is a huge improvement over the original file, for me the difference between no pointcloud at all (with a lattepanda alpha 864) and a really good pointcloud.

That was also the first thing I applied. It makes no difference. Just to re-iterate, the probem is not hardware or configuration related. Everything is setup properly. RTabMap-ROS can't find the image_proc/rectify class. That is what the error is showing, and this particular error has never been seen nor addressed before, which is why I brought it up here. Go and search Google for it. Apart from there being close to nothing on "Jetson Nano" + "Azure Kinect" and "RtabMap", this particular error has surfaced, but not in this particular context.

My hope was that someone in the Introlab repository would actually know the code deeply enough to immediately see what the problem is. It's becoming gradually clear to me that all of these tools have just been glued together with sticky notes.

First of all, i have had help and answers on all my questions from Matlabbe, which is one or the only developer of Rtabmap i think. Give it a couple of days and he will try to help you when he reads it.

I understand your frustrations because ... well read my posts.

It has cost me weeks to get even the smallest results, mostly because everything was new for me, lots of cmake errors which i didnt understand but now i can troubleshoot a little bit. Did you try this software setup that now fails on a laptop or computer? Because having a new devices like the kinect, new software (for me at least) and the nvidia (with arm64) is not an easy way to try everything at ones and find the problem. You can also try the standalone version of Rtabmap and see how that works on the nano. I know that Matlabbe has it working but i dont know how a rosbag, which i think he used, compares to a Azure Kinect.

And did you try something other than gdm3 to free up memory? You mentioned "one of the B01 ports" so you do have the 4GB version of the Nano right?

I agree with you that Microsoft is marketing the Azure Kinect too much as a product that is working allready or for tweakers (so works with a couple of hours). Then all the media displaying good results doesn't help either, which was never the case with the first Kinects because it was allways for the xbox and also marketed like that. The software is nowhere near ready (at least not a package for the use case i had in mind), but then again the Kinect is always been a product which was great through the efforts of the opensource community (from what i've seen way better than the D455 you mention, even a used Kinect v2) and i think this will be no exception. It just needs some time. I think now the Kinect v2 is also the much better option because you can get it for a couple of bucks and the community has allready spend a lot off time on that device.

I don't agree with you about the NUC, because the Lattepanda is basically that and the results are nowhere near that of the jetson agx and my hp elitebook 8760w (which has an old quadro 4000m, cuda disabled). So i believe you need gpu power or at least you have more use for that. But maybe there are some nucs that have that, i dont know.

Also, do you use the exact same slam_rtabmap.launch (and if so, did you install ros-melodic-imu-filter-madgwick)? with 720p? color_enabled? It would be usefull to post the settings in "group ns="k4a" or the whole launch file

[ChemicalNRG]

Strictly speaking, Jetpack is just generic arm64 Ubuntu plus the firmware required for the system to boot, CUDA, L4T, TensorRT, etc., NVidia doesn't actually provide OpenCV libraries.

I understand that, that's why i did say "/compile" because it was installed through the Nvidia SDK. That only makes sense if it is used by one of the things in the Jetpack, which dont make sense to not compile that with gpu acceleration your product is marketing and produced for (aside from ML).

[ChemicalNRG]

Maybe here we can find something to reverse the qt5 install by the JetsonPack? https://www.qt.io/blog/2016/11/10/qt-nvidia-jetson-tx1-device-creation-style https://doc.qt.io/QtForDeviceCreation/qtee-preparing-hardware-jetsontx2.html

in the first article it looks like it is installed besides a 'normal' qt5 package.

I started allready a fresh install with the oldest sdk i could find for the AGX. So maybe someone can look if the install of the first article is also what is done by the sdk manager?

Also installed just the Jetson OS + cuda and developer tools (so everything till the agreement) and now triing to install the programs i need before i will try to start install the jetpack. Hoping that will solve a lot of problems.

[VisionaryMind]

I had a chance today to install RTabMap with CUDA on a Windows machine with a GeForce RTX 2070 GPU and AMD Ryzen Threadripper 2950X 16-Core Processor. This computer can handle literally anything, and we use it frequently for photogrammetry and GPU-intensive 3D modeling. First, this clearly could not be used for true SLAM (moving around a room or a large area), as the camera gets lost with any slight movement beyond a centimeter (constantly showing red). We were able to capture a reasonably accurate point cloud, but at ~1 minute mark, it suddenly flips around and there are skewed points (double point clouds perpendicular to each other). This makes the entire scan unusable.

The other problem I am seeing is that the Kinect driver does not have robust buffer management, either on Windows or on Linux, as with enough time, the queue will be overwhelmed, and the camera will stop passing additional data, giving RTabMap the signal that the stream has ended (with a "reached the end of the stream" message).

I would have thought that Nano was playing a larger part in the poor scan results, but it appears to be the Azure Kinect and its low-performance Windows driver. Azure Kinect, in general. It's too slow to be of any use in a production setting. It sounds like it may perform better on Xavier AGX, but I would have thought that a CUDA-enabled RTX 2070 would be powerful enough to handle this pipeline. Clearly not. The Kinect's driver needs work.

I will attempt to work with the settings, but the performance for Windows + Azure Kinect + RTabMap CUDA is so lacking, I am skeptical that any significant improvements may be realized. KinectFusion, for example, is much faster and does not get lost, even with faster movements, but the Kinect example is without RGB.

[tkircher]

@VisionaryMind It's definitely a problem on your end. I regularly scan areas outside for ten to fifteen minutes with a Jetson Xavier NX and Azure Kinect with RTAB-Map. I did find with the UDOO Bolt v8 that the USB controller has trouble keeping up with the Kinect and has buffer issues, with theoretically faster CPU, memory, and I/O.