Re: Opencv on RTABMAP

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Opencv-on-RTABMAP-tp1369p1372.html

Hi,

This note about OpenCV in rtabmap_ros's build instructions is if you need the nonfree module of OpenCV:

If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the rtabmap library should link with it instead of the one installed in ROS. I recommend to use latest 2.4 version (2.4.11) and build it from source following these instructions. RTAB-Map can build with OpenCV3+xfeatures2d module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros vision-opencv package yourself (and all ros packages depending on it) so it can link on OpenCV3.

It is optional, as rtabmap and find_object can be built without the nonfree module. However, you will not have access to SIFT/SURF features.

If you want SIFT/SURF, you should rebuilt OpenCV from source. For that, versions 2.4.9 or 2.4.11 are fine. If you are going to use ROS, I don't recommend OpenCV 3 unless you are able to re-build all ROS packages depending on OpenCV 2.

cheers