Make errors #380

linweilin · 2019-04-09T09:47:26Z

I get this error after installing successfully VINS-Mono and VINS-Fusion on Ubuntu 16.04, ROS Kinetic.

~/rtabmap/build$ make 
[  4%] Built target rtabmap_utilite
[  5%] Built target res_tool
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNICV.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRGBDImages.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoDC1394.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoFlyCapture2.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoImages.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o
In file included from /usr/local/zed/include/sl/Camera.hpp:1:0,
                 from /home/william/rtabmap/corelib/src/camera/CameraStereoZed.cpp:34:
/usr/local/zed/include/sl_zed/Camera.hpp: In constructor ‘sl::InitParameters::InitParameters(sl::RESOLUTION, int, int, sl::String, bool, sl::DEPTH_MODE, sl::UNIT, sl::COORDINATE_SYSTEM, bool, int, float, bool, bool, bool, int, sl::String, int, CUcontext, sl::InputType, sl::String)’:
/usr/local/zed/include/sl_zed/Camera.hpp:250:14: warning: ‘sl::InitParameters::sdk_verbose’ will be initialized after [-Wreorder]
         bool sdk_verbose;
              ^
/usr/local/zed/include/sl_zed/Camera.hpp:241:18: warning:   ‘CUdevice sl::InitParameters::sdk_gpu_id’ [-Wreorder]
         CUdevice sdk_gpu_id;
                  ^
/usr/local/zed/include/sl_zed/Camera.hpp:328:9: warning:   when initialized here [-Wreorder]
         InitParameters(RESOLUTION camera_resolution_ = RESOLUTION_HD720,
         ^
/usr/local/zed/include/sl_zed/Camera.hpp:241:18: warning: ‘sl::InitParameters::sdk_gpu_id’ will be initialized after [-Wreorder]
         CUdevice sdk_gpu_id;
                  ^
/usr/local/zed/include/sl_zed/Camera.hpp:218:15: warning:   ‘float sl::InitParameters::depth_minimum_distance’ [-Wreorder]
         float depth_minimum_distance;
               ^
/usr/local/zed/include/sl_zed/Camera.hpp:328:9: warning:   when initialized here [-Wreorder]
         InitParameters(RESOLUTION camera_resolution_ = RESOLUTION_HD720,
         ^
/usr/local/zed/include/sl_zed/Camera.hpp:218:15: warning: ‘sl::InitParameters::depth_minimum_distance’ will be initialized after [-Wreorder]
         float depth_minimum_distance;
               ^
In file included from /usr/local/zed/include/sl/Camera.hpp:1:0,
                 from /home/william/rtabmap/corelib/src/camera/CameraStereoZed.cpp:34:
/usr/local/zed/include/sl_zed/Camera.hpp:146:14: warning:   ‘bool sl::InitParameters::camera_disable_self_calib’ [-Wreorder]
         bool camera_disable_self_calib;
              ^
In file included from /usr/local/zed/include/sl/Camera.hpp:1:0,
                 from /home/william/rtabmap/corelib/src/camera/CameraStereoZed.cpp:34:
/usr/local/zed/include/sl_zed/Camera.hpp:328:9: warning:   when initialized here [-Wreorder]
         InitParameters(RESOLUTION camera_resolution_ = RESOLUTION_HD720,
         ^
In file included from /usr/local/zed/include/sl/Camera.hpp:1:0,
                 from /home/william/rtabmap/corelib/src/camera/CameraStereoZed.cpp:34:
/usr/local/zed/include/sl_zed/Camera.hpp:146:14: warning: ‘sl::InitParameters::camera_disable_self_calib’ will be initialized after [-Wreorder]
         bool camera_disable_self_calib;
              ^
/usr/local/zed/include/sl_zed/Camera.hpp:136:13: warning:   ‘int sl::InitParameters::camera_image_flip’ [-Wreorder]
         int camera_image_flip;
             ^
In file included from /usr/local/zed/include/sl/Camera.hpp:1:0,
                 from /home/william/rtabmap/corelib/src/camera/CameraStereoZed.cpp:34:
/usr/local/zed/include/sl_zed/Camera.hpp:328:9: warning:   when initialized here [-Wreorder]
         InitParameters(RESOLUTION camera_resolution_ = RESOLUTION_HD720,
         ^
/usr/local/zed/include/sl_zed/Camera.hpp:260:16: warning: ‘sl::InitParameters::sdk_verbose_log_file’ will be initialized after [-Wreorder]
         String sdk_verbose_log_file;
                ^
/usr/local/zed/include/sl_zed/Camera.hpp:208:13: warning:   ‘int sl::InitParameters::depth_stabilization’ [-Wreorder]
         int depth_stabilization;
             ^
/usr/local/zed/include/sl_zed/Camera.hpp:328:9: warning:   when initialized here [-Wreorder]
         InitParameters(RESOLUTION camera_resolution_ = RESOLUTION_HD720,
         ^
/usr/local/zed/include/sl_zed/Camera.hpp: In constructor ‘sl::RuntimeParameters::RuntimeParameters(sl::SENSING_MODE, bool, bool, sl::REFERENCE_FRAME)’:
/usr/local/zed/include/sl_zed/Camera.hpp:440:14: warning: ‘sl::RuntimeParameters::enable_point_cloud’ will be initialized after [-Wreorder]
         bool enable_point_cloud;
              ^
/usr/local/zed/include/sl_zed/Camera.hpp:425:25: warning:   ‘sl::REFERENCE_FRAME sl::RuntimeParameters::measure3D_reference_frame’ [-Wreorder]
         REFERENCE_FRAME measure3D_reference_frame;
                         ^
/usr/local/zed/include/sl_zed/Camera.hpp:445:9: warning:   when initialized here [-Wreorder]
         RuntimeParameters(SENSING_MODE sensing_mode_ = SENSING_MODE_STANDARD,
         ^
/usr/local/zed/include/sl_zed/Camera.hpp: In constructor ‘sl::TrackingParameters::TrackingParameters(sl::Transform, bool, bool, sl::String, bool, bool)’:
/usr/local/zed/include/sl_zed/Camera.hpp:527:16: warning: ‘sl::TrackingParameters::area_file_path’ will be initialized after [-Wreorder]
         String area_file_path;
                ^
/usr/local/zed/include/sl_zed/Camera.hpp:516:14: warning:   ‘bool sl::TrackingParameters::set_floor_as_origin’ [-Wreorder]
         bool set_floor_as_origin;
              ^
/usr/local/zed/include/sl_zed/Camera.hpp:539:9: warning:   when initialized here [-Wreorder]
         TrackingParameters(Transform init_pos = Transform(), bool _enable_memor
         ^
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoTara.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraVideo.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/LaserScan.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerTORO.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCVSBA.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Registration.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationIcp.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationVis.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryThread.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryF2M.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryMono.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryF2F.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryFovis.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryViso2.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryDVO.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryOkvis.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryORBSLAM2.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryLOAM.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryMSCKF.cpp.o
[ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o
/home/william/rtabmap/corelib/src/odometry/OdometryVINS.cpp:39:33: fatal error: estimator/estimator.h: No such file or directory
compilation terminated.
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1795: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o' failed
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o] Error 1
CMakeFiles/Makefile2:2386: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2

Here is cmake output :

~/rtabmap/build$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel  ..
-- 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.

-- 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/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/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/hdf5/openmpi;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /usr/include
-- 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
-- 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
-- Using CATKIN_DEVEL_PREFIX: /home/william/rtabmap/build/devel
-- Using CMAKE_PREFIX_PATH: /home/william/test_ws/devel;/home/william/truss_ws/devel;/home/william/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/william/test_ws/devel;/home/william/truss_ws/devel;/home/william/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/william/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/william/test_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/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/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/hdf5/openmpi;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl;/opt/ros/kinetic/include;/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp
-- Found CUDA: /usr/local/cuda-10.0 (found suitable exact version "10.0") 
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda-10.0 (found version "10.0") 
-- Found CUDA: /usr/local/cuda-10.0/include
-- Found RealSense2: 
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found vins: 
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.19.1
--   CMAKE_INSTALL_PREFIX = /home/william/catkin_ws/devel
--   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
--   FLANN_KDTREE_MEM_OPT = OFF
--   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                = NO (GTSAM not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--  *With libpointmatcher      = NO (libpointmatcher not found)
--   With loam_velodyne        = YES (License: BSD)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel 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          = YES (License: GPLv3)
--   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/william/rtabmap/build

Some questions I would like to figure out:

If it is necessary to install VINS-Fusion before rtabmap? This error did not occur in the condition without VINS-Fusion. (But the condition has not been tested yet.)
Obviously, written in the cmake output, VINS-Fusion has been found. But the variable ${vins_INCLUDE_DIRS} cannot be print there. Even after I added two lines separately after LINE 435 /rtabmap/corelib/src/CMakeLists.txt.

IF(vins_FOUND)
    SET(INCLUDE_DIRS
		${vins_INCLUDE_DIRS}
		${INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${vins_LIBRARIES}
		${LIBRARIES}
	)
    MESSAGE(STATUS "vins_INCLUDE_DIRS: ${vins_INCLUDE_DIRS}")
    MESSAGE(STATUS "vins_LIBRARIES: ${vins_LIBRARIES}")
ENDIF(vins_FOUND)

The third question is rtabmap_ros catkin_make error. JUST ONE version of PCL in my machine 'cos ROS Kinetic was fully desktop installed. But rtabmap_ros still cannot find the library of PCL.

make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbd_sync'.  Stop.
CMakeFiles/Makefile2:6324: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/icp_odometry'.  Stop.
CMakeFiles/Makefile2:6361: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry'.  Stop.
CMakeFiles/Makefile2:6398: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry'.  Stop.
CMakeFiles/Makefile2:6435: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make VERBOS=1 -j4 -l4" failed

These .so files of PCL do exist in the directory. But just in /usr/lib/x86_64-linux-gnu rather than /usr/local/lib.

~$ locate libpcl
/opt/ros/kinetic/lib/libpcl_ros_features.so
/opt/ros/kinetic/lib/libpcl_ros_filters.so
/opt/ros/kinetic/lib/libpcl_ros_io.so
/opt/ros/kinetic/lib/libpcl_ros_segmentation.so
/opt/ros/kinetic/lib/libpcl_ros_surface.so
/opt/ros/kinetic/lib/libpcl_ros_tf.so
/opt/ros/kinetic/share/pcl_ros/plugins/nodelet/libpcl_ros_features.xml
/opt/ros/kinetic/share/pcl_ros/plugins/nodelet/libpcl_ros_filters.xml
/opt/ros/kinetic/share/pcl_ros/plugins/nodelet/libpcl_ros_io.xml
/opt/ros/kinetic/share/pcl_ros/plugins/nodelet/libpcl_ros_segmentation.xml
/opt/ros/kinetic/share/pcl_ros/plugins/nodelet/libpcl_ros_surface.xml
/usr/lib/x86_64-linux-gnu/libpcl_apps.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_apps.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_common.so
/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_common.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_features.so
/usr/lib/x86_64-linux-gnu/libpcl_features.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_features.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_filters.so
/usr/lib/x86_64-linux-gnu/libpcl_filters.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_filters.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_io.so
/usr/lib/x86_64-linux-gnu/libpcl_io.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_io.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_io_ply.so
/usr/lib/x86_64-linux-gnu/libpcl_io_ply.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_io_ply.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_octree.so
/usr/lib/x86_64-linux-gnu/libpcl_octree.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_octree.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_people.so
/usr/lib/x86_64-linux-gnu/libpcl_people.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_people.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_recognition.so
/usr/lib/x86_64-linux-gnu/libpcl_recognition.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_recognition.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_registration.so
/usr/lib/x86_64-linux-gnu/libpcl_registration.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_registration.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_search.so
/usr/lib/x86_64-linux-gnu/libpcl_search.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_search.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_surface.so
/usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_tracking.so
/usr/lib/x86_64-linux-gnu/libpcl_tracking.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_tracking.so.1.7.2
/usr/lib/x86_64-linux-gnu/libpcl_visualization.so
/usr/lib/x86_64-linux-gnu/libpcl_visualization.so.1.7
/usr/lib/x86_64-linux-gnu/libpcl_visualization.so.1.7.2
/usr/share/doc/libpcl-apps1.7
/usr/share/doc/libpcl-common1.7
/usr/share/doc/libpcl-dev
/usr/share/doc/libpcl-features1.7
/usr/share/doc/libpcl-filters1.7
/usr/share/doc/libpcl-io1.7
/usr/share/doc/libpcl-kdtree1.7
/usr/share/doc/libpcl-keypoints1.7
/usr/share/doc/libpcl-octree1.7
/usr/share/doc/libpcl-outofcore1.7
/usr/share/doc/libpcl-people1.7
/usr/share/doc/libpcl-recognition1.7
/usr/share/doc/libpcl-registration1.7
/usr/share/doc/libpcl-sample-consensus1.7
/usr/share/doc/libpcl-search1.7
/usr/share/doc/libpcl-segmentation1.7
/usr/share/doc/libpcl-surface1.7
/usr/share/doc/libpcl-tracking1.7
/usr/share/doc/libpcl-visualization1.7
/usr/share/doc/libpcl1.7
/usr/share/doc/libpcl-apps1.7/changelog.Debian.gz
/usr/share/doc/libpcl-apps1.7/changelog.gz
/usr/share/doc/libpcl-apps1.7/copyright
/usr/share/doc/libpcl-common1.7/changelog.Debian.gz
/usr/share/doc/libpcl-common1.7/copyright
/usr/share/doc/libpcl-dev/AUTHORS.txt
/usr/share/doc/libpcl-dev/changelog.Debian.gz
/usr/share/doc/libpcl-dev/changelog.gz
/usr/share/doc/libpcl-dev/copyright
/usr/share/doc/libpcl-features1.7/changelog.Debian.gz
/usr/share/doc/libpcl-features1.7/changelog.gz
/usr/share/doc/libpcl-features1.7/copyright
/usr/share/doc/libpcl-filters1.7/changelog.Debian.gz
/usr/share/doc/libpcl-filters1.7/changelog.gz
/usr/share/doc/libpcl-filters1.7/copyright
/usr/share/doc/libpcl-io1.7/changelog.Debian.gz
/usr/share/doc/libpcl-io1.7/changelog.gz
/usr/share/doc/libpcl-io1.7/copyright
/usr/share/doc/libpcl-kdtree1.7/changelog.Debian.gz
/usr/share/doc/libpcl-kdtree1.7/changelog.gz
/usr/share/doc/libpcl-kdtree1.7/copyright
/usr/share/doc/libpcl-keypoints1.7/changelog.Debian.gz
/usr/share/doc/libpcl-keypoints1.7/changelog.gz
/usr/share/doc/libpcl-keypoints1.7/copyright
/usr/share/doc/libpcl-octree1.7/changelog.Debian.gz
/usr/share/doc/libpcl-octree1.7/changelog.gz
/usr/share/doc/libpcl-octree1.7/copyright
/usr/share/doc/libpcl-outofcore1.7/changelog.Debian.gz
/usr/share/doc/libpcl-outofcore1.7/changelog.gz
/usr/share/doc/libpcl-outofcore1.7/copyright
/usr/share/doc/libpcl-people1.7/changelog.Debian.gz
/usr/share/doc/libpcl-people1.7/changelog.gz
/usr/share/doc/libpcl-people1.7/copyright
/usr/share/doc/libpcl-recognition1.7/changelog.Debian.gz
/usr/share/doc/libpcl-recognition1.7/changelog.gz
/usr/share/doc/libpcl-recognition1.7/copyright
/usr/share/doc/libpcl-registration1.7/changelog.Debian.gz
/usr/share/doc/libpcl-registration1.7/changelog.gz
/usr/share/doc/libpcl-registration1.7/copyright
/usr/share/doc/libpcl-sample-consensus1.7/changelog.Debian.gz
/usr/share/doc/libpcl-sample-consensus1.7/changelog.gz
/usr/share/doc/libpcl-sample-consensus1.7/copyright
/usr/share/doc/libpcl-search1.7/changelog.Debian.gz
/usr/share/doc/libpcl-search1.7/changelog.gz
/usr/share/doc/libpcl-search1.7/copyright
/usr/share/doc/libpcl-segmentation1.7/changelog.Debian.gz
/usr/share/doc/libpcl-segmentation1.7/changelog.gz
/usr/share/doc/libpcl-segmentation1.7/copyright
/usr/share/doc/libpcl-surface1.7/changelog.Debian.gz
/usr/share/doc/libpcl-surface1.7/changelog.gz
/usr/share/doc/libpcl-surface1.7/copyright
/usr/share/doc/libpcl-tracking1.7/changelog.Debian.gz
/usr/share/doc/libpcl-tracking1.7/changelog.gz
/usr/share/doc/libpcl-tracking1.7/copyright
/usr/share/doc/libpcl-visualization1.7/changelog.Debian.gz
/usr/share/doc/libpcl-visualization1.7/changelog.gz
/usr/share/doc/libpcl-visualization1.7/copyright
/usr/share/doc/libpcl1.7/changelog.Debian.gz
/usr/share/doc/libpcl1.7/changelog.gz
/usr/share/doc/libpcl1.7/copyright
/usr/share/lintian/overrides/libpcl-dev
/usr/share/lintian/overrides/libpcl-octree1.7
/usr/share/lintian/overrides/libpcl-people1.7
/var/cache/apt/archives/libpcl-dev_1.7.2-14build1_amd64.deb
/var/lib/dpkg/info/libpcl-apps1.7.list
/var/lib/dpkg/info/libpcl-apps1.7.md5sums
/var/lib/dpkg/info/libpcl-apps1.7.shlibs
/var/lib/dpkg/info/libpcl-apps1.7.triggers
/var/lib/dpkg/info/libpcl-common1.7:amd64.list
/var/lib/dpkg/info/libpcl-common1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-common1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-common1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-dev.list
/var/lib/dpkg/info/libpcl-dev.md5sums
/var/lib/dpkg/info/libpcl-features1.7:amd64.list
/var/lib/dpkg/info/libpcl-features1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-features1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-features1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-filters1.7:amd64.list
/var/lib/dpkg/info/libpcl-filters1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-filters1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-filters1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-io1.7:amd64.list
/var/lib/dpkg/info/libpcl-io1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-io1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-io1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-kdtree1.7:amd64.list
/var/lib/dpkg/info/libpcl-kdtree1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-kdtree1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-kdtree1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-keypoints1.7:amd64.list
/var/lib/dpkg/info/libpcl-keypoints1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-keypoints1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-keypoints1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-octree1.7:amd64.list
/var/lib/dpkg/info/libpcl-octree1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-octree1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-octree1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-outofcore1.7:amd64.list
/var/lib/dpkg/info/libpcl-outofcore1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-outofcore1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-outofcore1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-people1.7:amd64.list
/var/lib/dpkg/info/libpcl-people1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-people1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-people1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-recognition1.7:amd64.list
/var/lib/dpkg/info/libpcl-recognition1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-recognition1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-recognition1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-registration1.7:amd64.list
/var/lib/dpkg/info/libpcl-registration1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-registration1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-registration1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-sample-consensus1.7:amd64.list
/var/lib/dpkg/info/libpcl-sample-consensus1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-sample-consensus1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-sample-consensus1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-search1.7:amd64.list
/var/lib/dpkg/info/libpcl-search1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-search1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-search1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-segmentation1.7:amd64.list
/var/lib/dpkg/info/libpcl-segmentation1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-segmentation1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-segmentation1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-surface1.7:amd64.list
/var/lib/dpkg/info/libpcl-surface1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-surface1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-surface1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-tracking1.7:amd64.list
/var/lib/dpkg/info/libpcl-tracking1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-tracking1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-tracking1.7:amd64.triggers
/var/lib/dpkg/info/libpcl-visualization1.7:amd64.list
/var/lib/dpkg/info/libpcl-visualization1.7:amd64.md5sums
/var/lib/dpkg/info/libpcl-visualization1.7:amd64.shlibs
/var/lib/dpkg/info/libpcl-visualization1.7:amd64.triggers
/var/lib/dpkg/info/libpcl1.7.list
/var/lib/dpkg/info/libpcl1.7.md5sums

BTW, I would like to know how to fold the code.

Check some errors summaried in here, if you are interested in.

Thank you for answering my questions.

@matlabbe

The text was updated successfully, but these errors were encountered:

matlabbe · 2019-04-10T04:25:55Z

Hi,

For the PCL errors, it seems you did previously build rtabmap with PCL installed in /usr/local. You may delete the CMakeCache.txt in rtabmap build directory and catkin build directory to refresh the paths. Then rebuild.

For VINS-Fusion, it is not required for rtabmap. you can do cmake -DWITH_VINS=OFF .. in rtabmap/build directory to disable it. If you want to use it in rtabmap, there is a patch to apply to VINS-Fusion repo so that the header files can be found by cmake. See this patch: https://gist.github.com/matlabbe/795ab37067367dca58bbadd8201d986c

cheers,
Mathieu

linweilin · 2019-04-10T05:27:34Z

Hi, Mathieu

For VINS, I would like do 3D mapping (6DOF) on rtabmap using VIO approach (VINS-Mono or VINS-Fusion) with zed-mini or Realsense D435i. May I get some tutorials about how to do this? (I read a topic in rtabmap-forum, maybe what I need to do is to feed the odometry of VINS to rtabmap?)
There is a question, It seems 3D dense mapping of 6DOF is bad in my test environment (a biped climbing robot on the truss with a sensor suite). Every step motion of the robot is on a plane, but the whole trajectory is still 6DOF. How can I set the parameters to 6DOF? (For now, I use the default settings in rtabmap). Moreover, I'll be appreciated If you have any ideas about how to modify the source code to constrain every movement of the robot on a plane.

Just some help and it will make a big difference to me.

Thank you soooooooo much and also always welcome to help me by emailing vlinwilliam@gmail.com.

Yours,
William

matlabbe · 2019-04-11T15:58:56Z

Hi William,

You can use external odometry to rtabmap node. For D435i, it seems to have an example with VINS-Fusion. You may try if you can make it work alone before integrating with RTAB-Map. If rtabmap is built with VINS-Fusion, there is a VIO example here using EuRoC rosbags. I've never tested it live with a real camera though.

By default, rtabmap is 6DOF. To constraint to 3DOF, we can set parameter Reg/Force3DoF to true. However, I am not used to biped robots, but as long you can have TF representing the whole robot at any time accordingly to a base_footprint frame on ground, odometry can be transformed in that frame and thus estimation in 3DoF will be done accordingly to base_footprint.

cheers,
Mathieu

linweilin · 2019-07-31T09:15:53Z

Thank you!

linweilin closed this as completed Jul 31, 2019

Levi568 mentioned this issue Oct 10, 2019

make error #450

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den-schmidt mentioned this issue Aug 3, 2023

Missing VINS-Support #1106

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