Re: Error compiling with OpenCV (xfeatures2d.h)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-compiling-with-OpenCV-xfeatures2d-h-tp508p516.html

Normally, on a default ROS system (Hydro/Indigo/Jade), RTAB-Map's dependencies are already satisfied by the binaries installed (including OpenCV 2.4).

To use rtabmap_ros with kinect v2, you can look at this launch file: rgbd_mapping_kinect2.launch

The instructions in the header:

   <!-- Kinect 2
        Install Kinect2 : Follow ALL directives at https://github.com/code-iai/iai_kinect2
                          Make sure it is calibrated!
        Run:
           $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true
           $ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch
   -->
   <!-- Which image resolution to process in rtabmap: sd, qhd, hd -->
   <arg name="resolution" default="qhd" />
   ...

Note that you need to use the latest code from master branch of rtabmap_ros to make rtabmap runs with the latest versions of libfreenect2 and kinect2_bridge.

cheers