Closed EndlessLoops closed 4 years ago
What information do I need to provide?
-- --------------------------------------------
-- Info :
-- Version : 0.20.3
-- CMAKE_INSTALL_PREFIX = /home/ubuntu/catkin_ws/devel
-- 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 4.1.1 xfeatures2d = NO, nonfree = NO (License: BSD)
-- With Qt 5.9.5 = YES (License: Open Source or Commercial)
-- With VTK 6.3 = YES (License: BSD)
-- With external SQLite3 = YES (License: Public Domain)
-- With ORB OcTree = YES (License: GPLv3)
-- With SupertPoint = NO (libtorch not found)
-- With Python3 = NO (WITH_PYMATCHER=OFF)
-- 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 = YES (License: BSD)
-- 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)
-- With AliceVision = NO (WITH_ALICE_VISION=OFF)
--
-- Camera Drivers:
-- With Freenect = YES (License: Apache v2 and/or GPLv2)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = NO (libfreenect2 not found)
-- With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
-- With 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 and/or cuda not found)
-- With RealSense = NO (librealsense not found)
-- With RealSense2 = YES (License: Apache-2)
-- With MyntEyeS = NO (mynteye s sdk 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)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
For the warnings in the console, make sure those topics are published:
rostopic hz /camera/color/image_raw \
/camera/aligned_depth_to_color/image_raw \
/camera/color/camera_info
For the empty 3D Map view, it is a known OpenGL rendering problem on Jetson, see this post (the best workaround is to use RVIZ instead of rtabmapviz):
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!
@matlabbe Thanks for your reply. I reinstall the system and rtabmap binaries . It can work in RViz though it also have OpenGL rendering problem in rtabmapviz.
Hardware: jetson xavier nx and d435i OS: Ubuntu 18.04 / ROS Melodic and Jetpack4.4 rtabmap version:0.20.3
I installed the rtabmap with source code and I tested it with d435i base on the Tutorials.I got some error and the window can’t get the image.