RTAB-Map is not built with Python3 support

[saipuneeth]

root@luke:/workspace/rtabmap/build# rtabmap --version
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
RTAB-Map:               0.21.4
PCL:                    1.10.0
With VTK:                7.1.1
OpenCV:                  4.2.0
With OpenCV xfeatures2d: false
With OpenCV nonfree:     false
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With OpenGV:             false
With Madgwick:            true
With PDAL:               false
With TORO:                true
With g2o:                 true
With GTSAM:               true
With Vertigo:             true
With CVSBA:              false
With Ceres:              false
With OpenNI2:             true
With Freenect:           false
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:              true
With FlyCapture2:        false
With ZED:                false
With ZED Open Capture:   false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:         false
With MYNT EYE S:         false
With DepthAI:            false
With libpointmatcher:     true
With CCCoreLib:          false
With Open3D:             false
With OctoMap:             true
With GridMap:             true
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FLOAM:              false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM:           false
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false
With OpenVINS:           false

root@luke:/workspace/rtabmap/build# cmake ..
-- MOBILE_BUILD=OFF
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
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-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-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-7.1/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-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
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-7.1/VTKTargets.cmake"
but not all the files it references.

-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.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/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP: /usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Add PCL_OMP to definitions
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found Python3
-- Found pybind11: /usr/local/lib/python3.8/dist-packages/pybind11/include (found version "2.12.0")
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o (targets)
-- g2o include dir: /opt/ros/noetic/include
-- Old g2o factory version detected without shared ptr (factory file: /opt/ros/noetic/include/g2o/core/factory.h).
-- GTSAM include directory:  /opt/ros/noetic/lib/cmake/GTSAM/../../../include
-- 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 Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic
-- Found libpointmatcher: /opt/ros/noetic/include;/usr/include/eigen3
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono timer serialization atomic
-- Found RealSense2:
-- Found octomap 1.9.8: /opt/ros/noetic/include
-- Found grid_map_core 1.6.4: /opt/ros/noetic/include;/usr/include/eigen3
-- Architecture: x86_64
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.21.4
--   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 -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          = NO (libtorch not found)
--   With Python3.8            = YES (License: PSF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
--
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o 1.0.0            = YES (License: BSD)
--  *With GTSAM 4.2.0          = YES (License: BSD)
--  *With Ceres                = NO (WITH_CERES=OFF)
--   With MRPT                 = NO (MRPT not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (WITH_CVSBA=OFF)
--  *With libpointmatcher 1.3.1 = YES (License: BSD)
--   With CCCoreLib            = NO (WITH_CCCORELIB=OFF)
--   With Open3D               = NO (WITH_OPEN3D=OFF)
--   With OpenGV               = NO (OpenGV not found)
--
--  Reconstruction Approaches:
--   With OctoMap 1.9.8        = YES (License: BSD)
--   With GridMap 1.6.4        = YES (License: BSD)
--   With CPUTSDF              = NO (WITH_CPUTSDF=OFF)
--   With OpenChisel           = NO (WITH_OPENCHISEL=OFF)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
--
--  Camera Drivers:
--   With Freenect             = NO (libfreenect not found)
--   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               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2 2.50.0    = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (WITH_DEPTHAI=OFF)
--
--  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_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /workspace/rtabmap/build


Pythons package is found but when using rtabmap it says there is no Python support

[matlabbe]

When you do " rtabmap --version", it will take the first rtabmap found on the PATH. You can do "which rtabmap" to know which one is called. My suspicion is that rtabmap binaries are used. You can uninstall binaries to make sure the one you built is used:

sudo apt remove ros-$ROS_DISTRO-rtabmap*

or try

/workspace/rtabmap/build/bin/rtabmap --version 

instead

[saipuneeth]

root@luke:/# which rtabmap
/opt/ros/noetic/bin/rtabmap

After I tried to remove ros-noetic-rtabmap* and then
and i tried make -j4 in /workspace/rtabmap/build , I got

.....
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::io::saveVTKFile(std::string const&, pcl::PCLPointCloud2 const&, unsigned int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::getFeatureViewByName(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uNumber2Str(unsigned int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZI>::getName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `gtsam::demangle(char const*)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::VideoCapture::open(std::string const&, int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZRGB>::Search(std::string const&, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::getBuildInformation()'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `ULogger::kDefaultLogFileName'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::internal::WriteStructContext::WriteStructContext(cv::FileStorage&, std::string const&, int, std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uNumber2Str(double, int, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `g2o::Factory::knowsTag(std::string const&, int*) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PLYWriter::writeASCII(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UDirectory::exists(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcherSupport::Parametrizable::getParamValueString(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::getDescriptorRowViewByName(std::string const&, unsigned int) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::OpenNIGrabber::OpenNIGrabber(std::string const&, pcl::OpenNIGrabber::Mode const&, pcl::OpenNIGrabber::Mode const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::Algorithm::getDefaultName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::VLPGrabber::VLPGrabber(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::getDescriptorCopyByName(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::getDescriptorRowViewByName(std::string const&, unsigned int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PCDWriter::writeASCII(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UVariant::UVariant(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uFormat(char const*, ...)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `gtsam::print(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::VLPGrabber::getName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UFile::exists(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `gtsam::Pose3::print(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZINormal>::Search(std::string const&, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `grid_map::GridMap::operator[](std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `gtsam::NonlinearOptimizerParams::print(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PLYWriter::writeBinary(std::string const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `ULogger::registerCurrentThread(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uNumber2Str(float, int, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::descriptorExists(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::Algorithm::save(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZ>::Search(std::string const&, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PCDReader::read(std::string const&, pcl::PCLPointCloud2&, int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UFile::getExtension(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `ULogger::setType(ULogger::Type, std::string const&, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UFile::rename(std::string const&, std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `gtsam::Pose2::print(std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZRGB>::getName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::operator<<(cv::FileStorage&, std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointNormal>::getName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `grid_map::GridMap::operator[](std::string const&) const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uStr2Int(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `g2o::writeCCSMatrix(std::string const&, int, int, int const*, int const*, double const*, bool)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PCDWriter::setLockingPermissions(std::string const&, boost::interprocess::file_lock&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uStr2Double(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `cv::imencode(std::string const&, cv::_InputArray const&, std::vector<unsigned char, std::allocator<unsigned char> >&, std::vector<int, std::allocator<int> > const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UFile::getName(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UFile::erase(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `grid_map::GridMap::setBasicLayers(std::vector<std::string, std::allocator<std::string> > const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::PLYReader::read(std::string const&, pcl::PCLPointCloud2&, Eigen::Matrix<float, 4, 1, 0, 4, 1>&, Eigen::Quaternion<float, 0>&, int&, int)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::Matcher::Matcher(std::string const&, std::vector<PointMatcherSupport::Parametrizable::ParameterDoc, std::allocator<PointMatcherSupport::Parametrizable::ParameterDoc> >, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `pcl::search::Search<pcl::PointXYZINormal>::getName() const'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcher<float>::DataPoints::getFeatureViewByName(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `UDirectory::homeDir()'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `PointMatcherSupport::InvalidElement::InvalidElement(std::string const&)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `grid_map::GridMap::add(std::string const&, double)'
/usr/bin/ld: ../../bin/librtabmap_core.so.0.21.5: undefined reference to `uBool2Str(bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [tools/ExtractObject/CMakeFiles/extractObject.dir/build.make:190: bin/rtabmap-extractObject] Error 1
make[1]: *** [CMakeFiles/Makefile2:1153: tools/ExtractObject/CMakeFiles/extractObject.dir/all] Error 2
make: *** [Makefile:152: all] Error 2

[matlabbe]

Try cleaning the build directory and redo a clean cmake.