RTABMAP w intel realsense on mac osx

[jacksonkr]

I have the RTABMAP standalone running on mac osx and I can use it with a kinect.

I have librealsense running on the same machine and can see all the camera data.

How then can I get the r200 camera to work with rtabmap? Are there options for the standalone binary? eg. "$ rtabmap --depth-camera r200_camera"

[matlabbe]

Hi,

RTAB-Map should be built with realsense library. You can see in CMake status of rtabmap if it is correctly detected. The driver can be selected like the other (it is gray on my machine because rtabmap is not built with it):


cheers

[jacksonkr]

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[jacksonkr]

-- Info :
--   Version : 0.11.11
--   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
--   BUILD_AS_BUNDLE =      OFF
--   CMAKE_CXX_FLAGS =   -std=c++11
--   With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)
--   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 dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = NO (g2o not found)
--   With GTSAM                = NO (GTSAM not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = YES (License: Apache-2)
--   With OCTOMAP              = NO (octomap not found)
--   With Qt4                  = YES (License: Open Source or Commercial)

The support is there but I'm having trouble compiling on OSX 10 so I'll dig in more and start another ticket for that as needed.

[jacksonkr]

Works great on Ubuntu 16.04 amd64 w / librealsense stable

Problematic with Ubuntu 14.04 amd64 / librealsense v0.9.2

Currently too much hassle to compile standalone on osx 10.11.4

[matlabbe]

Hi,

Unfortunately, I cannot test this on multiple machines (as USB 3 is required). I tested it only on Ubuntu 16.04 (with default Kinetic release) and 14.04. On 14.04, it worked on one of my machine and not on an other, maybe missing an installation instruction somewhere.

cheers