Official RTAB-Map Forum - cannot find libfovis when compiling

cannot find libfovis when compiling

Posted by alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/cannot-find-libfovis-when-compiling-tp4932.html

Hi,

I am doing a clean install for ROS kinetic and installing by source. I downloaded and compiled most of the external libraries before building rtabmap.
Here is how my

cmake

looks like:

~/rtabmap/build$ 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.

-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without 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-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/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/jsoncpp;/usr/include/python2.7;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/tcl
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /opt/ros/kinetic/include/libfreenect
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
CMake Warning at cmake_modules/FindG2O.cmake:122 (MESSAGE):
  Latest g2o version detected with c++11 interface (config file:
  /usr/local/include/g2o/config.h).  Make sure g2o is built with
  "-DBUILD_WITH_MARCH_NATIVE=OFF" to avoid segmentation faults caused by
  Eigen.
Call Stack (most recent call first):
  CMakeLists.txt:307 (FIND_PACKAGE)


-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found cvsba: /usr/local/include
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include;/usr/local/include;/home/arav/software_lib/libpointmatcher/pointmatcher;/home/arav/software_lib/libpointmatcher/pointmatcher/DataPointsFilters;/home/arav/software_lib/libpointmatcher/pointmatcher/DataPointsFilters/utils
-- Found RealSense2: 
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found libfovis: /usr/local/include
-- Found libviso2: /home/arav/catkin_ws/src/viso2/libviso2/libviso2/src
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.17.5
--   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 = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   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                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = YES (License: GPLv2)
--   With libpointmatcher      = YES (License: BSD)
--   With loam_velodyne        = NO (loam_velodyne not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = YES (License: GPLv2)
--   With libviso2             = YES (License: GPLv3)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/arav/rtabmap/build

when running the

make

command inside build, it is not able to find libfovis although installed using instructions shown below

  $ mkdir build
  $ cd build
  $ cmake ..
  $ make
  $ sudo make install
  $ sudo ldconfig

Error:

~/rtabmap/build$ make
[  4%] Built target rtabmap_utilite
[  4%] Built target res_tool
[  4%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryFovis.cpp.o
/home/arav/rtabmap/corelib/src/OdometryFovis.cpp:36:21: fatal error: fovis.hpp: No such file or directory
compilation terminated.
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1291: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/OdometryFovis.cpp.o' failed
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/OdometryFovis.cpp.o] Error 1
CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2

Another thing, I have loam_velodyne in my catkin folder, however rtabmap is not able to find it. Can you suggest something.

Thanks

------ Alex