make RTAB-Map standalone error

[Yuli]

Dear Mathieu
I was trying to make  RTAB-Map standalone,
and
[ 80%] Linking CXX executable ../../../bin/rtabmap
/usr/bin/ld: warning: libnppc.so.9.1, needed by //usr/local/cuda-9.1/lib64/libnppial.so.9.1, not found (try using -rpath or -rpath-link)
//usr/local/cuda-9.1/lib64/libnppial.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppif.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppist.so.9.1: undefined reference to `[e-mail].9.1'
/usr/local/zed/lib/libsl_core.so: undefined reference to `nppSetStream'
//usr/local/cuda-9.1/lib64/libnppial.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppial.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppial.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppidei.so.9.1: undefined reference to `[e-mail].9.1'
//usr/local/cuda-9.1/lib64/libnppist.so.9.1: undefined reference to `[e-mail].9.1'
collect2: error: ld returned 1 exit status
app/src/CMakeFiles/rtabmap.dir/build.make:498: recipe for target '../bin/rtabmap' failed
make[2]: *** [../bin/rtabmap] Error 1
CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed
make[1]: *** [app/src/CMakeFiles/rtabmap.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2



This is my Cmake :

-- 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-6.2/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-6.2/VTKTargets.cmake"
but not all the files it references.

CMake Warning at CMakeLists.txt:180 (MESSAGE):
  PCL definitions contain "-march=native", make sure all libraries using
  Eigen are also compiled with that flag to avoid some segmentation faults
  (with gdb referring to some Eigen functions).


-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1;/opt/ros/kinetic/include/opencv-3.3.1/opencv
-- Found PCL: /usr/local/include/pcl-1.8;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-6.2;/usr/include/libxml2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/jsoncpp;/usr/include/tcl;/usr/include/python2.7
-- Found ZLIB: /usr/include
-- Found Freenect: /usr/include
CMake Warning at cmake_modules/FindKinectSDK2.cmake:71 (message):
  Directory "" not found.
Call Stack (most recent call first):
  cmake_modules/FindKinectSDK2.cmake:119 (check_dir)
  CMakeLists.txt:277 (FIND_PACKAGE)


-- KinectSDK2_FOUND : FALSE
-- Found DC1394: /usr/include/dc1394
-- Could NOT find CSPARSE (missing:  CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
-- Found CUDA: /usr/local/cuda (found suitable exact version "9.1")
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda (found version "9.1")
-- Found CUDA: /usr/local/cuda/include
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.17.0
--   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++11
--   PCL_DEFINITIONS =  -march=native -msse4.2 -mfpmath=sse ;-DDISABLE_OPENNI2;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = NO (OpenNI2 not found)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   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              = NO (GTSAM or g2o required)
--   With cvsba                = NO (cvsba not found)
--   With libpointmatcher      = NO (libpointmatcher not found)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = NO (librealsense not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With ORB_SLAM2            = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done

I wonder if you can help me with this?
Thank you!

[matlabbe]

Hi,

Do you have ZED SDK compatible with CUDA 9.1?

Otherwise, if you don't need ZED, you can build without it so that CUDA is not linked:

$ cd rtabmap/build
$ cmake -DWITH_ZED=OFF ..

cheers,
Mathieu

[Yuli]

Yes, I do and I could run zed_ros_wrapper on my computer successfully.
I want to run RTABMAP with live video from ZED cause using ORB-SLAM didn't
work well.
I will keep trying.
Thank you sir!

[matlabbe]

Maybe there is a CUDA library missing for the linking (one with the undefined functions you listed), however here, all CUDA libraries should be added to linker.

[Yuli]

problem's solved after I did
export LD_LIBRARY_PATH=/usr/local/cuda/lib64/:$LD_LIBRARY_PATH
thank you sir!