Re: rtabmap in my robot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-my-robot-tp1350p1361.html

Hi,

The following message is wrong (it should not state OpenCV 2 but 3):

With OpenCV 2 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (License: Non commercial) 

In the logic of the main CMakeLists.txt:

IF(OpenCV_FOUND)
  IF(OpenCV_VERSION_MAJOR EQUAL 2)
    IF(OPENCV_NONFREE_FOUND)
      MESSAGE(STATUS "  With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
    ELSE()
      MESSAGE(STATUS "  With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
    ENDIF()
  ELSE()
    IF(OPENCV_XFEATURES2D_FOUND)
      MESSAGE(STATUS "  With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)")
    ELSE()
      MESSAGE(STATUS "  With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)")
    ENDIF()
  ENDIF()
ENDIF(OpenCV_FOUND)

If you have tried OpenCV3 before OpenCV2, make sure to clean the build directory before trying again with a different OpenCV:

$ rm -r rtabmap/build/*
$ cd rtabmap/build
$ cmake ..

Note that if rtabmap doesn't build with OpenCV3, it is a bug, you can report the issue here with the cmake and make outputs.

cheers