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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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3D map is not loading (jetson nano) #427

Open aguilaair opened 5 years ago

aguilaair commented 5 years ago

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!

matlabbe commented 2 years ago

The opencv optflow module is not really required, my fault when I added explicitly only opencv modules that should be linked (wrongly assumed that cv::calcOpticalFlowPyrLK was coming from optflow module, but it comes from video module).

ProphetXH commented 2 years ago

hello @matlabbe thank you for the info. I'm using use TX2（jetpack4.6.1）to slam, but when l try to slam, there is no image on rtabmapviz. I can see the image normally on rviz so l want to kown how to use rviz instead of rtabmapviz to finish rtabslam. thank you very much.

Shishir-Kumar-Singh commented 2 years ago

@ProphetXH You can find the details here: http://wiki.ros.org/rtabmap_ros Typically, it is like rviz:=true rtabmapviz:=false with roslaunch

ProphetXH commented 2 years ago

@Shishir-Kumar-Singh thank you for your reply. then I run rviz successsfully, but I have some questions to ask. when I run rviz to slam, map and tf can't run successfully. See the following figure for details. I am a novice, I hope to get some advice from you，thank you .

Selection_003 Selection_004 Selection_002 Selection_001

Shishir-Kumar-Singh commented 2 years ago

@ProphetXH Which camera are you using?

ProphetXH commented 2 years ago

@Shishir-Kumar-Singh I am using intel realsenseL515.

Shishir-Kumar-Singh commented 2 years ago

@Shishir-Kumar-Singh I am using intel realsenseL515.

@ProphetXH I had the similar issue with my camera D435i. It is somehere related to transformation. Follow this tutorial https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i It may help you.

ProphetXH commented 2 years ago

@Shishir-Kumar-Singh thank you very much. I'll try it in these two days.

tugbakara commented 1 year ago

-- MOBILE_BUILD=OFF CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message): Could NOT find OpenCV (missing: optflow) (found version "4.1.1")

I got the same error when I want to make catkin_make in my workspace

matlabbe commented 1 year ago

Latest rtabmap version doesn't require optflow opencv module: https://github.com/introlab/rtabmap/commit/ff739a98a5b0fdee4532b1a4e70ffb77677d59d1

but rtabmap_ros didn't get updated: https://github.com/introlab/rtabmap_ros/blob/44bbaa2cefd3e976648baa8cbd8ba7df4b90b5af/CMakeLists.txt#L37

optflow has been removed on rtabmap_ros side in this commit: https://github.com/introlab/rtabmap_ros/commit/71095c87fbbc7ada947127d8e7af686854f08647

tugbakara commented 1 year ago

I read this issue someelse and you came with option that is deleting optflow in CMake files, I did it same.

borongyuan commented 1 year ago

I found another elegant way of doing this.

  1. Enable deb-src from /etc/apt/sources.list
  2. Get source code of vtk6. apt-get source vtk6
  3. Install build dependencies. sudo apt-get build-dep vtk6
  4. Modify debian/rules as rules.txt
  5. Rebuild deb packages. dpkg-buildpackage -b -uc -us