Re: Compile RTAB-Map with additional libraries

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Compile-RTAB-Map-with-additional-libraries-tp731p733.html

Hi,

1) While you are using ROS, you can install ROS related packages to have the sensor drivers:

$ sudo apt-get install ros-indigo-openni2-launch ros-indigo-openni-launch ros-indigo-freenect-launch

With rtabmap_ros, the rtabmap library doesn't need to be built with OpenNI2 or other drivers. But by installing the ROS packages, rtabmap will detect them anyway.

2) For g2o, there is already a ROS package:

$ sudo apt-get install ros-indigo-libg2o

However, I've found that the latest g2o version from GitHub is faster. For GTSAM and cvsba, they should be built from source.

3) Vertigo can only be used with g2o or GTSAM. However, with or without Vertigo, the example "Without Vertigo" can be used with TORO, g2o and GTSAM.

cheers