Compile RTAB-Map with additional libraries

Posted by g.bartoli on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Compile-RTAB-Map-with-additional-libraries-tp731.html

Hi Mathieu,
I would like to compile RTAB-Map 0.10.6 with SURF/SIFT, Vertigo and OpenNI2 to perform some tests with ASUS Xtion Pro.
I'm starting from a clean Ubuntu 14.04 with ROS Indigo and OpenCV 2.4.11 compiled and installed, I already downloaded and configured RTAB-Map from GIT sources like you explained here.

This is the output of cmake:

-- Found Pthreads
-- --------------------------------------------
-- Info :
--   CMAKE_INSTALL_PREFIX = /home/vision/catkin_ws/devel
--   CMAKE_BUILD_TYPE = Release
--   BUILD_SHARED_LIBS = ON
--   With OpenCV 2 nonfree module (SIFT/SURF) = YES
--   With Freenect             = NO (libfreenect not found)
--   With OpenNI2              = NO (OpenNI2 not found)
--   With Freenect2            = NO (libfreenect2 not found)
--   With dc1394               = YES
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With g2o                  = NO (g2o not found)
--   With GTSAM                = NO (GTSAM not found)
--   With cvsba                = NO (cvsba not found)
--   With Qt                   = YES (version 4)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/vision/rtabmap/build

The SURF/SIFT are recognized and I'm planning to use rtabmap node like I did with the previous "rtabmap_ros" package installed via "apt-get install ros-indigo-rtabmap-ros", so I have some questions:
1) Do I need to manually install OpenNI2 to use the ASUS Xtion Pro? (rtabmap_ros worked fine without any additional driver)
2) What libraries I have to install to enable g2o, GTSAM and cvsba? Do I need to compile them or can I install them with apt-get?
3) Are all these libraries all needed to use Robust Graph Optimization?

Thanks