Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-error-in-process-rtabmap-rgbd-odometry-1-ubuntu-on-raspberry-pi-tp444p485.html
We will try to detect which library makes the app crashing on start. RTAB-Map standalone app depends on three built-in libraries "core", "gui" and "utilite". The librtabmap_utilite.so defines a thread class (wrapper of pthread) that maybe related to
Using host libthread_db library "/lib/arm-linux-gnueabihf/libthread_db.so.1" error if the Raspberry Pi have somewhat specific thread libraries.
Go to rtabmap source directory (the standalone, not the rtabmap_ros) and try the following:
$ cd rtabmap/bin
1) Test PCL libraries + librtabmap_utilite.so alone:
$ ./rtabmap-extractObject
Usage: extractObject [options] cloud.pcd
Options:
-p #.# plane distance threshold (default 0.02 m)
-a #.# plane angle tolerance from z axis (default PI/6)
-c #.# cluster tolerance (default 0.1 m)
-s # minimum cluster size (default 50 points)
-center_obj center the objects to their local reference
-save_plane save the plane inliers to "extracted_plane.pcd"
2) Test OpenCV libraries + librtabmap_utilite.so alone:
$ ./rtabmap-imagesJoiner
Usage:
imagesJoiner.exe [option] path
Options:
-inv option for copying odd images on the right
3) Test OpenCV_PCL libraries + librtabmap_utilite.so + librtabmap_core.so:
$ ./rtabmap-rgbd_camera
Usage:
rtabmap-rgbd_camera driver
driver Driver number to use: 0=OpenNI-PCL (Kinect)
1=OpenNI2 (Kinect and Xtion PRO Live)
2=Freenect (Kinect)
3=OpenNI-CV (Kinect)
4=OpenNI-CV-ASUS (Xtion PRO Live)
5=Freenect2 (Kinect v2)
6=DC1394 (Bumblebee2)
7=FlyCapture2 (Bumblebee2)
4) Test OpenCV+PCL+Qt libraries + librtabmap_utilite.so + librtabmap_core.so + librtabmap_gui.so:
$ ./rtabmap-rgbd_mapping
Usage:
rtabmap-rgbd_mapping driver
driver Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS
Do you have any errors when launching these 4 cases? (crashing before seeing the "usage" above?)