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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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DepthAI camera initialization error #828

Closed nickjrz closed 2 years ago

nickjrz commented 2 years ago

Whenever I try to launch rtabmap-dataRecorder or just rtabmap with my OAK-D through the GUI, it fails at initializing the camera. rtabmap has been built with depthai support. These are the errors that I get:

oakd_rtabmap_crahs2 oakd_rtabmap_crash

Any idea what these crashes could be?

matlabbe commented 2 years ago

You may try rebuilding rtabmap with this commit: https://github.com/introlab/rtabmap/commit/c99203bbed1d212fa35ed088665d3742da54cd11 to avoid linking on libopencv_viz.so that includes vtk stuff with not the same version than pcl's vtk dependency, causing crash when the wrong vtk version is used on runtime.

I didn't test if depthai built with opencv will also give indirectly the libopencv_viz.so to rtabmap, which can cause the same problem even if fixed on rtabmap side.

nickjrz commented 2 years ago

Sounds good, I will give that a try!

nickjrz commented 2 years ago

UPDATE:

I rebuilt rtabmap with that commit but I am still running into the same error, the rtabmap version built is 2.18.0. it seems to be the same issue with linking libopencv_viz.so

matlabbe commented 2 years ago

Hi,

First you may try WITH_DEPTHAI=OFF to see if libopencv_viz.so is still linked or not to rtabmap.

Second, if opencv from depthai is the problem, you may change this line to something like this (explicitly load minimal components) https://github.com/introlab/rtabmap/blob/e6a5fe9c26226478e6f94362a4435a39c42bcd45/CMakeLists.txt#L224 maybe:

find_package(OpenCV 4 QUIET CONFIG COMPONENTS core imgproc)

rebuild/install depth_ai and rebuild rtabmap afterwards.

nickjrz commented 2 years ago

I tried doing that but it still seems that libopencv_viz.so is still being linked. How were you able to get it working with depthai driver and what versions of pcl and vtk were you using?

matlabbe commented 2 years ago

My current build is using default versions from Ubuntu 20.04: 

~/workspace/rtabmap/build/bin$ ldd ./rtabmap 
    linux-vdso.so.1 (0x00007fff60bf8000)
    librtabmap_gui.so.0.20 => /home/mathieu/workspace/rtabmap/build/bin/librtabmap_gui.so.0.20 (0x00007ff707c23000)
    librtabmap_core.so.0.20 => /home/mathieu/workspace/rtabmap/build/bin/librtabmap_core.so.0.20 (0x00007ff706dbb000)
    libtorch_cpu.so => /home/mathieu/.local/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so (0x00007ff6fc36d000)
    libtorch_cuda.so => /home/mathieu/.local/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so (0x00007ff6ee9e6000)
    libtorch.so => /home/mathieu/.local/lib/python3.8/site-packages/torch/lib/libtorch.so (0x00007ff6ee9df000)
    librtabmap_utilite.so.0.20 => /home/mathieu/workspace/rtabmap/build/bin/librtabmap_utilite.so.0.20 (0x00007ff6ee9bb000)
    libQt5Widgets.so.5 => /lib/x86_64-linux-gnu/libQt5Widgets.so.5 (0x00007ff6ee2d3000)
    libQt5Core.so.5 => /lib/x86_64-linux-gnu/libQt5Core.so.5 (0x00007ff6edd8a000)
    libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007ff6edba8000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007ff6edb8d000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007ff6ed999000)
    libpcl_surface.so.1.10 => /lib/x86_64-linux-gnu/libpcl_surface.so.1.10 (0x00007ff6ecc0b000)
    libpcl_visualization.so.1.10 => /lib/x86_64-linux-gnu/libpcl_visualization.so.1.10 (0x00007ff6eca98000)
    libvtkRenderingLOD-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingLOD-7.1.so.7.1p (0x00007ff6eca77000)
    libvtkGUISupportQt-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkGUISupportQt-7.1.so.7.1p (0x00007ff6eca21000)
    libvtkRenderingVolumeOpenGL2-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingVolumeOpenGL2-7.1.so.7.1p (0x00007ff6ec99a000)
    libQt5Svg.so.5 => /lib/x86_64-linux-gnu/libQt5Svg.so.5 (0x00007ff6ec93e000)
    libQt5PrintSupport.so.5 => /lib/x86_64-linux-gnu/libQt5PrintSupport.so.5 (0x00007ff6ec8c5000)
    libopencv_imgcodecs.so.4.2 => /lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.2 (0x00007ff6ec86c000)
    libopencv_calib3d.so.4.2 => /lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2 (0x00007ff6ec699000)
    libpcl_io.so.1.10 => /lib/x86_64-linux-gnu/libpcl_io.so.1.10 (0x00007ff6ec412000)
    libpcl_search.so.1.10 => /lib/x86_64-linux-gnu/libpcl_search.so.1.10 (0x00007ff6ec1df000)
    libpcl_common.so.1.10 => /lib/x86_64-linux-gnu/libpcl_common.so.1.10 (0x00007ff6ec12b000)
    libvtkRenderingAnnotation-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingAnnotation-7.1.so.7.1p (0x00007ff6ebf58000)
    libvtkRenderingFreeType-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingFreeType-7.1.so.7.1p (0x00007ff6ebe96000)
    libvtkInteractionStyle-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkInteractionStyle-7.1.so.7.1p (0x00007ff6ebdfc000)
    libvtkRenderingOpenGL2-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingOpenGL2-7.1.so.7.1p (0x00007ff6ebad5000)
    libvtkRenderingCore-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkRenderingCore-7.1.so.7.1p (0x00007ff6eb7c2000)
    libvtkFiltersSources-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkFiltersSources-7.1.so.7.1p (0x00007ff6eb6e2000)
    libvtkFiltersGeneral-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkFiltersGeneral-7.1.so.7.1p (0x00007ff6eb398000)
    libvtkCommonExecutionModel-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkCommonExecutionModel-7.1.so.7.1p (0x00007ff6eb2cf000)
    libvtkCommonDataModel-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkCommonDataModel-7.1.so.7.1p (0x00007ff6eaef7000)
    libvtkCommonMath-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkCommonMath-7.1.so.7.1p (0x00007ff6eaed0000)
    libvtkCommonCore-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkCommonCore-7.1.so.7.1p (0x00007ff6eab82000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007ff6eab5f000)
    libopencv_imgproc.so.4.2 => /lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2 (0x00007ff6ea5b8000)
    libopencv_core.so.4.2 => /lib/x86_64-linux-gnu/libopencv_core.so.4.2 (0x00007ff6ea208000)
    libQt5Gui.so.5 => /lib/x86_64-linux-gnu/libQt5Gui.so.5 (0x00007ff6e9c1d000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007ff6e9ace000)
    libopencv_stitching.so.4.2 => /lib/x86_64-linux-gnu/libopencv_stitching.so.4.2 (0x00007ff6e9a0b000)
    libopencv_aruco.so.4.2 => /lib/x86_64-linux-gnu/libopencv_aruco.so.4.2 (0x00007ff6e999d000)
    libpcl_segmentation.so.1.10 => /lib/x86_64-linux-gnu/libpcl_segmentation.so.1.10 (0x00007ff6e8c23000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007ff6e8c07000)
    libsqlite3.so.0 => /lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007ff6e8ade000)
    libc10.so => /home/mathieu/.local/lib/python3.8/site-packages/torch/lib/libc10.so (0x00007ff6e8a6f000)
    libpython3.8.so.1.0 => /lib/x86_64-linux-gnu/libpython3.8.so.1.0 (0x00007ff6e8519000)
    libfreenect.so.0.5 => /lib/x86_64-linux-gnu/libfreenect.so.0.5 (0x00007ff6e8507000)
    libOpenNI2.so => /lib/libOpenNI2.so (0x00007ff6e8281000)
    libfreenect2.so.0.2 => /usr/local/lib/libfreenect2.so.0.2 (0x00007ff6e818b000)
    libk4arecord.so.1.4 => /lib/x86_64-linux-gnu/libk4arecord.so.1.4 (0x00007ff6e7dc2000)
    librealsense2.so.2.50 => /usr/local/lib/librealsense2.so.2.50 (0x00007ff6e556d000)
    libdc1394.so.22 => /lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007ff6e54f5000)
    libdepthai-opencv.so => /home/mathieu/workspace/depthai-core/build/install/lib/libdepthai-opencv.so (0x00007ff6e54d6000)
    libg2o_types_slam2d.so => /opt/ros/noetic/lib/libg2o_types_slam2d.so (0x00007ff6e547d000)
    libg2o_types_sba.so => /opt/ros/noetic/lib/libg2o_types_sba.so (0x00007ff6e5421000)
    libg2o_csparse_extension.so => /opt/ros/noetic/lib/libg2o_csparse_extension.so (0x00007ff6e5419000)
    libboost_filesystem.so.1.71.0 => /lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 (0x00007ff6e53f9000)
    libpdal_base.so.9 => /lib/libpdal_base.so.9 (0x00007ff6e4d8c000)
    libpdal_util.so.9 => /lib/libpdal_util.so.9 (0x00007ff6e4d61000)
    libsl_zed.so => /usr/local/zed/lib/libsl_zed.so (0x00007ff6daeae000)
    liboctomap.so.1.9 => /opt/ros/noetic/lib/liboctomap.so.1.9 (0x00007ff6dae65000)
    liboctomath.so.1.9 => /opt/ros/noetic/lib/liboctomath.so.1.9 (0x00007ff6dae5d000)
    libaliceVision_mesh.so.2 => /usr/local/lib/libaliceVision_mesh.so.2 (0x00007ff6dadd4000)
    libgtsam.so.4 => /lib/x86_64-linux-gnu/libgtsam.so.4 (0x00007ff6da97a000)
    libopencv_video.so.4.2 => /lib/x86_64-linux-gnu/libopencv_video.so.4.2 (0x00007ff6da900000)
    libopencv_videoio.so.4.2 => /lib/x86_64-linux-gnu/libopencv_videoio.so.4.2 (0x00007ff6da87f000)
    libopencv_features2d.so.4.2 => /lib/x86_64-linux-gnu/libopencv_features2d.so.4.2 (0x00007ff6da7ab000)
    libopencv_photo.so.4.2 => /lib/x86_64-linux-gnu/libopencv_photo.so.4.2 (0x00007ff6da6d8000)
    libpcl_features.so.1.10 => /lib/x86_64-linux-gnu/libpcl_features.so.1.10 (0x00007ff6d7f5c000)
    libpcl_filters.so.1.10 => /lib/x86_64-linux-gnu/libpcl_filters.so.1.10 (0x00007ff6d7740000)
    libpcl_sample_consensus.so.1.10 => /lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.10 (0x00007ff6d6a4e000)
    libpcl_kdtree.so.1.10 => /lib/x86_64-linux-gnu/libpcl_kdtree.so.1.10 (0x00007ff6d68f5000)
    libk4a.so.1.4 => /lib/x86_64-linux-gnu/libk4a.so.1.4 (0x00007ff6d65c9000)
    libdepthai-core.so => /home/mathieu/workspace/depthai-core/build/install/lib/libdepthai-core.so (0x00007ff6d5111000)
    libgomp.so.1 => /lib/x86_64-linux-gnu/libgomp.so.1 (0x00007ff6d50cd000)
    libg2o_types_slam3d.so => /opt/ros/noetic/lib/libg2o_types_slam3d.so (0x00007ff6d5066000)
    libcxsparse.so.3 => /lib/x86_64-linux-gnu/libcxsparse.so.3 (0x00007ff6d5039000)
    libg2o_core.so => /opt/ros/noetic/lib/libg2o_core.so (0x00007ff6d4fdc000)
    libg2o_stuff.so => /opt/ros/noetic/lib/libg2o_stuff.so (0x00007ff6d4fbc000)
    libblas.so.3 => /lib/x86_64-linux-gnu/libblas.so.3 (0x00007ff6d35bd000)
    liblapack.so.3 => /lib/x86_64-linux-gnu/liblapack.so.3 (0x00007ff6d15a7000)
    libaliceVision_mvsUtils.so.2 => /usr/local/lib/libaliceVision_mvsUtils.so.2 (0x00007ff6d1563000)
    libcholmod.so.3 => /lib/x86_64-linux-gnu/libcholmod.so.3 (0x00007ff6d1480000)
    libaliceVision_sfmData.so.2 => /usr/local/lib/libaliceVision_sfmData.so.2 (0x00007ff6d1437000)
    libaliceVision_system.so.2 => /usr/local/lib/libaliceVision_system.so.2 (0x00007ff6d13f9000)
    /lib64/ld-linux-x86-64.so.2 (0x00007ff7081d8000)
    libnuma.so.1 => /lib/x86_64-linux-gnu/libnuma.so.1 (0x00007ff6d13ea000)
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    libmpi.so.40 => /lib/x86_64-linux-gnu/libmpi.so.40 (0x00007ff6d12a7000)
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    libpcre2-16.so.0 => /lib/x86_64-linux-gnu/libpcre2-16.so.0 (0x00007ff67a851000)
    libdouble-conversion.so.3 => /lib/x86_64-linux-gnu/libdouble-conversion.so.3 (0x00007ff67a83b000)
    libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007ff67a712000)
    libpcl_octree.so.1.10 => /lib/x86_64-linux-gnu/libpcl_octree.so.1.10 (0x00007ff67a4be000)
    libqhull.so.7 => /lib/x86_64-linux-gnu/libqhull.so.7 (0x00007ff67a264000)
    libvtkFiltersModeling-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkFiltersModeling-7.1.so.7.1p (0x00007ff67a1cd000)
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    libvtkViewsContext2D-7.1.so.7.1p => /lib/x86_64-linux-gnu/libvtkViewsContext2D-7.1.so.7.1p (0x00007ff679ae1000)
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    libgeos-3.8.0.so => /lib/x86_64-linux-gnu/libgeos-3.8.0.so (0x00007ff657482000)
    liburiparser.so.1 => /lib/x86_64-linux-gnu/liburiparser.so.1 (0x00007ff657461000)
    libhdf5_serial_hl.so.100 => /lib/x86_64-linux-gnu/libhdf5_serial_hl.so.100 (0x00007ff65743a000)
    libsz.so.2 => /lib/x86_64-linux-gnu/libsz.so.2 (0x00007ff657435000)
    libssl.so.1.1 => /lib/x86_64-linux-gnu/libssl.so.1.1 (0x00007ff6573a2000)
    libfyut.so.0 => /lib/x86_64-linux-gnu/libfyut.so.0 (0x00007ff657394000)
    libfygm.so.0 => /lib/x86_64-linux-gnu/libfygm.so.0 (0x00007ff65738b000)
    libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007ff65736f000)
    libXau.so.6 => /lib/x86_64-linux-gnu/libXau.so.6 (0x00007ff657369000)
    libXdmcp.so.6 => /lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007ff657361000)
    libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007ff657345000)
    libunistring.so.2 => /lib/x86_64-linux-gnu/libunistring.so.2 (0x00007ff6571c3000)
    libhogweed.so.5 => /lib/x86_64-linux-gnu/libhogweed.so.5 (0x00007ff65718c000)
    libgmp.so.10 => /lib/x86_64-linux-gnu/libgmp.so.10 (0x00007ff657108000)
    libp11-kit.so.0 => /lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007ff656fd2000)
    libtasn1.so.6 => /lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007ff656fba000)
    libkrb5.so.3 => /lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007ff656edd000)
    libk5crypto.so.3 => /lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007ff656eac000)
    libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007ff656ea5000)
    libkrb5support.so.0 => /lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007ff656e96000)
    libsasl2.so.2 => /lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007ff656e79000)
    libgssapi.so.3 => /lib/x86_64-linux-gnu/libgssapi.so.3 (0x00007ff656e32000)
    libbrotlicommon.so.1 => /lib/x86_64-linux-gnu/libbrotlicommon.so.1 (0x00007ff656e0f000)
    liborc-0.4.so.0 => /lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007ff656d8c000)
    libsoxr.so.0 => /lib/x86_64-linux-gnu/libsoxr.so.0 (0x00007ff656d21000)
    libcairo-gobject.so.2 => /lib/x86_64-linux-gnu/libcairo-gobject.so.2 (0x00007ff656d15000)
    libgdk_pixbuf-2.0.so.0 => /lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so.0 (0x00007ff656ceb000)
    libgio-2.0.so.0 => /lib/x86_64-linux-gnu/libgio-2.0.so.0 (0x00007ff656b0a000)
    libpangocairo-1.0.so.0 => /lib/x86_64-linux-gnu/libpangocairo-1.0.so.0 (0x00007ff656af8000)
    libpango-1.0.so.0 => /lib/x86_64-linux-gnu/libpango-1.0.so.0 (0x00007ff656aa9000)
    libpixman-1.so.0 => /lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007ff656a02000)
    libxcb-shm.so.0 => /lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007ff6569fd000)
    libxcb-render.so.0 => /lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007ff6569ec000)
    libXrender.so.1 => /lib/x86_64-linux-gnu/libXrender.so.1 (0x00007ff6567e2000)
    libXext.so.6 => /lib/x86_64-linux-gnu/libXext.so.6 (0x00007ff6567cd000)
    libogg.so.0 => /lib/x86_64-linux-gnu/libogg.so.0 (0x00007ff6567c0000)
    libmpg123.so.0 => /lib/x86_64-linux-gnu/libmpg123.so.0 (0x00007ff656760000)
    libvorbisfile.so.3 => /lib/x86_64-linux-gnu/libvorbisfile.so.3 (0x00007ff656753000)
    libgcrypt.so.20 => /lib/x86_64-linux-gnu/libgcrypt.so.20 (0x00007ff656635000)
    libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007ff656612000)
    libXfixes.so.3 => /lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007ff65660a000)
    libnssutil3.so => /lib/x86_64-linux-gnu/libnssutil3.so (0x00007ff6565d5000)
    libplc4.so => /lib/x86_64-linux-gnu/libplc4.so (0x00007ff6565ce000)
    libplds4.so => /lib/x86_64-linux-gnu/libplds4.so (0x00007ff6565c9000)
    libaec.so.0 => /lib/x86_64-linux-gnu/libaec.so.0 (0x00007ff6565c0000)
    libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007ff6565b9000)
    libheimntlm.so.0 => /lib/x86_64-linux-gnu/libheimntlm.so.0 (0x00007ff6565ab000)
    libkrb5.so.26 => /lib/x86_64-linux-gnu/libkrb5.so.26 (0x00007ff656518000)
    libasn1.so.8 => /lib/x86_64-linux-gnu/libasn1.so.8 (0x00007ff656471000)
    libhcrypto.so.4 => /lib/x86_64-linux-gnu/libhcrypto.so.4 (0x00007ff656439000)
    libroken.so.18 => /lib/x86_64-linux-gnu/libroken.so.18 (0x00007ff656420000)
    libmount.so.1 => /lib/x86_64-linux-gnu/libmount.so.1 (0x00007ff6563be000)
    libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007ff656393000)
    libpangoft2-1.0.so.0 => /lib/x86_64-linux-gnu/libpangoft2-1.0.so.0 (0x00007ff65637a000)
    libfribidi.so.0 => /lib/x86_64-linux-gnu/libfribidi.so.0 (0x00007ff65635d000)
    libthai.so.0 => /lib/x86_64-linux-gnu/libthai.so.0 (0x00007ff656352000)
    libwind.so.0 => /lib/x86_64-linux-gnu/libwind.so.0 (0x00007ff656326000)
    libheimbase.so.1 => /lib/x86_64-linux-gnu/libheimbase.so.1 (0x00007ff656314000)
    libhx509.so.5 => /lib/x86_64-linux-gnu/libhx509.so.5 (0x00007ff6562c6000)
    libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007ff65628b000)
    libblkid.so.1 => /lib/x86_64-linux-gnu/libblkid.so.1 (0x00007ff656234000)
    libpcre2-8.so.0 => /lib/x86_64-linux-gnu/libpcre2-8.so.0 (0x00007ff6561a2000)
    libdatrie.so.1 => /lib/x86_64-linux-gnu/libdatrie.so.1 (0x00007ff656198000)

This is with latest depthai-core version "as is" (in static library mode by default) and latest rtabmap version, and libopencv_viz.so doesn't appear on the list. Here is my cmake output:

-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.20.19
--   CMAKE_VERSION =        3.16.3
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -fopenmp -std=c++14
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.10.0
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
--   With Qt 5.12.8            = YES (License: Open Source or Commercial)
--   With VTK 7.1              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = YES (License: GPLv3) libtorch=1.10.0
--   With Python3.8            = YES (License: PSF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = YES (License: BSD)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--  *With Ceres                = NO (WITH_CERES=OFF)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher      = YES (License: BSD)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision 2.4.0    = YES (License: MPLv2)
-- 
--  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     = YES (License: MIT)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = YES
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = YES (License: MIT)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (WITH_LOAM=OFF)
--   With floam                = NO (WITH_FLOAM=OFF)
--   With libfovis             = NO (WITH_FOVIS=OFF)
--   With libviso2             = NO (WITH_VISO2=OFF)
--   With dvo_core             = NO (WITH_DVO=OFF)
--   With okvis                = NO (WITH_OKVIS=OFF)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (WITH_VINS=OFF)
--   With OpenVINS             = NO (WITH_OPENVINS=OFF)
--   With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
nickjrz commented 2 years ago

So I found the issue, I had depthai-core built as dynamic library and that 's when it would link libopencv_viz.so so I tried building the depthai library in static mode and it worked fine. Thanks for the help!

Also, to feed IMU data from OAK-D, do I need to use one of the VIO appoaches integrated in RTAB-Map (OKVIS, MSCKF-VIO or VINS-Fusion) ?

matlabbe commented 2 years ago

You can, but rtabmap's F2M odometry can handle IMU too to get the map aligned with gravity (make sure to update rtabmap, I fixed imu orientation yesterday with latest depthai-core version). IMUs are published by default. But if you want a more tightly coupled VIO approach, you would have to build with one of those approaches. Refer to this docker file to see which version of these approaches have been tested (known to build with rtabmap with patches).

nickjrz commented 2 years ago

Thanks for your prompt reply. I will test the odometry approaches now that I have rtabmap working with the DepthAI driver. Are the VIO approaches also able to be integrated in the rtabmap standalone version or just ROS?

matlabbe commented 2 years ago

For pure visual odometry approaches, you could only feed the output odometry topic to rtabmap node in ROS without recompiling rtabmap.

In the standalone it is maybe more well integrated than using ros version of the packages, but need careful recompiling.