Re: Scan over maximum points
Posted by
alexr on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Scan-over-maximum-points-tp5281p5284.html
Hi,
The version is 0.17.6.
I git pull both rtabmap standalone and rtabmap_ros to master and rebuild everything. Still the same problem and error.
rtabmap --version
RTAB-Map: 0.17.6
OpenCV: 3
With OpenCV nonfree: true
With TORO: true
With g2o: true
With GTSAM: false
With Vertigo: true
With CVSBA: false
With OpenNI2: false
With Freenect: true
With Freenect2: false
With K4W2: false
With DC1394: false
With FlyCapture2: false
With ZED: false
With RealSense: false
With RealSense SLAM: false
With RealSense2: false
With libpointmatcher: false
With octomap: true
With cpu-tsdf: false
With open chisel: false
With LOAM: false
With FOVIS: false
With Viso2: false
With DVO: false
With ORB_SLAM2: false
With OKVIS: false
With MSCKF_VIO: false
Another thing I noticed here is that rtabmap --version shows that rtabmap with GTSAM is off. However when I run the cmake .. inside the rtabmap/build it shows the following:
~/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 Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- 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/x86_64-linux-gnu;/usr/include/tcl;/usr/include/hdf5/openmpi;/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/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/python2.7;/usr/include/libxml2
-- 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
-- Old g2o version detected with c++03 interface (config file: /opt/ros/kinetic/include/g2o/config.h).
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/include/eigen3
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found cvsba: /usr/local/include
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/usr/include/eigen3;/usr/local/include;/home/arav/extra_lib/libpointmatcher/pointmatcher;/home/arav/extra_lib/libpointmatcher/pointmatcher/DataPointsFilters;/home/arav/extra_lib/libpointmatcher/pointmatcher/DataPointsFilters/utils
-- Using CATKIN_DEVEL_PREFIX: /home/arav/rtabmap/build/devel
-- Using CMAKE_PREFIX_PATH: /home/arav/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/arav/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/arav/rtabmap/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
CMake Warning (dev) at /usr/src/gmock/CMakeLists.txt:40 (project):
Policy CMP0048 is not set: project() command manages VERSION variables.
Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
The following variable(s) would be set to empty:
PROJECT_VERSION
PROJECT_VERSION_MAJOR
PROJECT_VERSION_MINOR
PROJECT_VERSION_PATCH
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at /usr/src/gtest/CMakeLists.txt:42 (project):
Policy CMP0048 is not set: project() command manages VERSION variables.
Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
The following variable(s) would be set to empty:
PROJECT_VERSION
PROJECT_VERSION_MAJOR
PROJECT_VERSION_MINOR
PROJECT_VERSION_PATCH
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found loam_velodyne: /home/arav/catkin_ws/src/loam_velodyne/include;/usr/include/eigen3;/usr/include/pcl-1.7;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/x86_64-linux-gnu;/usr/include/tcl;/usr/include/hdf5/openmpi;/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/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/python2.7;/usr/include/libxml2;/opt/ros/kinetic/include;/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp
-- Found RealSense: /opt/ros/kinetic/include
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found libfovis: /home/arav/catkin_ws/src/libfovis/libfovis
-- Found libviso2: /home/arav/catkin_ws/src/viso2/libviso2/libviso2/src
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- Version : 0.18.2
-- 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++14
-- PCL_DEFINITIONS = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
-- With external SQLite3 = YES (License: Public Domain)
-- 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 = YES (License: BSD)
-- With ZED = NO (ZED sdk not found)
-- With RealSense = YES (License: Apache-2)
-- With RealSenseSlam = NO (WITH_REALSENSE_SLAM=OFF)
-- With RealSense2 = NO (librealsense2 not found)
-- 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/buildHere the version is 0.18.2 with GTSAM true. What should be the reason for this discrepancy.
Thanks
------
Alex