Re: rtabmap and SURF GPU

Posted by dschnabel on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-and-SURF-GPU-tp6699p6736.html

Thanks. Do I have to compile rtabmap with ORB_SLAM2 support to make use of BRIEF/ORB? Looking at my cmake build info this is how it looks:

-- --------------------------------------------
-- Info :
--   Version : 0.19.7
--   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
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.9.1
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.2.0 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)
--   With Qt5                  = YES (License: Open Source or Commercial)
--   With VTK 7.1              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint Torch    = NO (libtorch not found)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = NO (g2o not found)
--  *With GTSAM                = NO (GTSAM not found)
--  *With Ceres                = NO (Ceres not found)
--   With VERTIGO              = NO (GTSAM or g2o required)
--   With cvsba                = NO (cvsba not found)
--  *With libpointmatcher      = NO (libpointmatcher not found)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = NO (octomap not found)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = NO (libfreenect not found)
--   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 Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = NO (librealsense2 not found)
--   With MyntEyeS             = NO (mynteye s sdk not found)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (loam_velodyne not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (VINS-Fusion not found)
--   With ORB_SLAM2            = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------