Re: Cplusplus Loop Closure Detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cplusplus-Loop-Closure-Detection-tp686p691.html

Hi,

These are linker errors, the compiler doesn't find RTAB-Map's libraries. As the "rtabmap" package is not really a catkin package, you should use the standard CMake way to link the RTAB-Map's libraries. In your top CMakeLists.txt:

find_package(RTABMap REQUIRED)
include_directories(${RTABMap_INCLUDE_DIRS})

add_executable(my_node src/my_node.cpp)
target_link_libraries(my_node ${RTABMap_LIBRARIES})

Yes, in the example using images from a directory, the CameraImages class reads images until the end of the directory. The CameraImages can be replaced by any Camera classes.

cheers,
Mathieu