[Solved]Cplusplus-RGBD-Mapping using realsense

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[Solved]Cplusplus-RGBD-Mapping using realsense

khlau
This post was updated on .
I try the tutorial in https://github.com/introlab/rtabmap/wiki/Cplusplus-RGBD-Mapping.

cmake and make gives no error.
However, I got error when I run
./rgbd_mapping 7

[ERROR] (2018-11-12 11:30:11.359) main.cpp:113::main() Not built with RealSense support...

I am not sure my installation of everything is correct. I can sure I can run realsense2_camera and receive img and cloud point when I run :

roslaunch realsense2_camera rs_camera.launch align_depth:=true

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true

I am using D415 but I don't think this is the problem. I followed https://github.com/intel-ros/realsense/#installation-instructions to install the wrapper using catkin. I think the problem is there is something wrong in cmakelist.txt which I don't know how to edit.

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8)
PROJECT( MyProject )

FIND_PACKAGE(RTABMap REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(PCL 1.7 REQUIRED)

# Find Qt5 first
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg QUIET)
IF(NOT Qt5_FOUND)
  FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
ENDIF(NOT Qt5_FOUND)

# fix libproj.so not found on Xenial
if(NOT "${PCL_LIBRARIES}" STREQUAL "")
  list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
endif()

if(POLICY CMP0020)
  cmake_policy(SET CMP0020 OLD)
endif()

# include directories
SET(INCLUDE_DIRS
   ${catkin_INCLUDE_DIRS}
   ${RTABMap_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${PCL_INCLUDE_DIRS}
)

#IF(QT4_FOUND)
#   INCLUDE(${QT_USE_FILE})
#ENDIF(QT4_FOUND)

INCLUDE_DIRECTORIES(${INCLUDE_DIRS} )

# libraries
SET(LIBRARIES
   ${catkin_LIBRARIES}
   ${RTABMap_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${QT_LIBRARIES}
   ${PCL_LIBRARIES}
)

#IF(QT4_FOUND)
#   QT4_WRAP_CPP(moc_srcs MapBuilder.h)
#ELSE()
   QT5_WRAP_CPP(moc_srcs MapBuilder.h)
#ENDIF()

ADD_EXECUTABLE(rgbd_mapping main.cpp ${moc_srcs})
 
TARGET_LINK_LIBRARIES(rgbd_mapping ${LIBRARIES})


 Any help, please?

Thx for reading my problem.
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Re: Cplusplus-RGBD-Mapping using realsense

khlau
I solve this problem by using the code in https://github.com/introlab/rtabmap/tree/0059a4bc1b0f7ac0059832b86519c5945caacd58/examples/RGBDMapping

run
./rgbd_mapping  8

work as a charm