Re: problems running RtabMap with ORB_SLAM

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/problems-running-RtabMap-with-ORB-SLAM-tp5172p5173.html

Hi,

It is maybe that g2o built with ORB_SLAM2 contains -march=native as PCL is not built with it. For example, if when doing cmake on rtabmap build you see this:

$ cd  rtabmap/build
$ cmake ..
...
-- 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).
...


Remove "-march=native" from here, here and here in ORB_SLAM2. Rebuild ORB_SLAM2.

If PCL has been already built with -march=native, you would not have to modify ORB_SLAM2 (well I didn't test it though).

cheers,
Mathieu