romdos
commented
7 years ago I have another error related on FabMap, which is about nonfree usage of this library.
Open prarobo opened 7 years ago
romdos
commented
7 years ago I have another error related on FabMap, which is about nonfree usage of this library.
FirefoxMetzger
commented
7 years ago The issue is, that openFabMap uses SURF and Star features. Both are part of the non-free libraries of openCV. Since opencv3 they have been moved into another repo ( opencv-contrib ). Also their includes and structure has been modified, thus you have to change some code around to make it work.
Further /thirdparty/openFabMap supplies its own FindOpenCV.cmake which will then find different libraries than LSD-SLAM (which gets them from ROS)
Here is how I've build mine. Make sure you have ros-kinetic-opencv3 installed. It also provides the non-free libraries.
In lsd_slam_core/thirdparty/openFabMap
change FindOpenCV.cmake:19 to:
FIND_PATH( OPENCV2_INCLUDE_PATH opencv.hpp
/opt/ros/kinetic/include/opencv-3.2.0-dev/opencv2
)-- that should fix @prarobo 's issue, that the headers can't be found
in CMakeLists.txt:64 add
# should not be needed, if ROS is sourced libraries are added to $LD_LIBRARY_PATH
link_directories(/opt/ros/kinetic/lib)in CMakeLists.txt:64 change to
TARGET_LINK_LIBRARIES(openFABMAP opencv_highgui opencv_core opencv_features2d opencv_imgproc opencv_xfeatures2d3)compare samples\openFABMAPcli.cpp with my version. There are a few changes to comply with the changed syntax from opencv2.4 -> opencv3.2
in src\ChowLiuTree.cpp:55 add:
#include <map>now you should be able to compile openFabMap with openCV3.2, however you still have to adjust LSD-slam to work with that.
Go to lsd_slam_core/src/GlobalMapping
In FabMap.h:24 add
#include <opencv2/features2d.hpp>in FabMap.h:29 remove
// namespace cv {
// class FeatureDetector;
// class BOWImgDescriptorExtractor;
// }In FabMap.cpp:25 change to:
#include <opencv2/features2d.hpp>
#include <opencv2/xfeatures2d.hpp>In FamMap.cpp:95 change to:
detector = cv::xfeatures2d::StarDetector::create(32, 10, 18, 18, 20);
cv::Ptr<cv::DescriptorExtractor> extractor = cv::xfeatures2d::SURF::create(1000, 4, 2, false, true); // new cv::SIFT();If I didn't miss any change I did it should be compiling now. Hope that helps.
abdur4373
commented
5 years ago Hello @FirefoxMetzger @prarobo
After making the changes according to @FirefoxMetzger comment i was getting this error:-
/usr/bin/ld: cannot find -lopencv_xfeatures2d3 collect2: error: ld returned 1 exit status src/lsd_slam/lsd_slam_core/thirdparty/openFabMap/CMakeFiles/openFABMAP.dir/build.make:153: recipe for target '/home/maq/catkin_ws/devel/lib/libopenFABMAP.so' failed make[2]: *** [/home/maq/catkin_ws/devel/lib/libopenFABMAP.so] Error 1 CMakeFiles/Makefile2:2502: recipe for target 'src/lsd_slam/lsd_slam_core/thirdparty/openFabMap/CMakeFiles/openFABMAP.dir/all' failed make[1]: *** [src/lsd_slam/lsd_slam_core/thirdparty/openFabMap/CMakeFiles/openFABMAP.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 30%] Built target lsd_slam_viewer_generate_messages [ 41%] Built target viewer Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j16 -l16" failed
But when i removed 'opencv_xfeatures2d3' from:-
TARGET_LINK_LIBRARIES(openFABMAP opencv_highgui opencv_core opencv_features2d opencv_imgproc opencv_xfeatures2d3) in CMakeLists.txt:64. catkin_make was good and LSD SLAM is running as well.
I have cloned LSD SLAM from this respository. Kindly comment what was the use of 'opencv_xfeatures2d3' library and how to know that loop closure is running with openFabMap or not. As result of PointCloudViewer is not much different from before when i was running it without loop closures.
I was able to compile lsd_slam for ROS-kinetic in Ubuntu 16.04 without fabmap support. When I included fabmap, I got this error
It appears like it is not able to find openCV, however the lsd_slam package compiles without fabmap, despite using opencv. All opencv includes in the CMakeLists.txt look fine. Any thoughts?