Build error in ROS Indigo

[mb55420]

Dear @taihup ,

I had followed the installed guide, however I came across the following error when building sptam in ROS indigo.

It seems the issues that PCL library and openni-dev are missing.
But I already followed the guide to install pcl:
$ apt-get install ros-indigo-pcl-ros

Could you suggest me how to fix it?

THX~
MB

root@ubuntu:~/catkin_ws# catkin_make --pkg sptam -DSHOW_TRACKED_FRAMES=ON
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install

Running command: "cmake /root/catkin_ws/src -DSHOW_TRACKED_FRAMES=ON -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install -G Unix Makefiles" in "/root/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /root/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /root/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /root/catkin_ws/devel;/opt/ros/indigo
-- 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: /root/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.16
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - sptam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'sptam'
-- ==> add_subdirectory(sptam)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.59.0
-- Found the following Boost libraries:
-- thread
-- system
-- regex
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- checking for module 'openni-dev'
-- package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- looking for PCL_KDTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_FEATURES
-- looking for PCL_KEYPOINTS
-- looking for PCL_GEOMETRY
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_SURFACE
-- looking for PCL_PEOPLE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_INCLUDE_DIR
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam/src/sptam
used as include directory in directory /root/catkin_ws/src/sptam/src/ros

-- Configuring incomplete, errors occurred!
See also "/root/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/root/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
root@ubuntu:~/catkin_ws#

[taihup]

Hi MB, It looks like g2o is missing or bad configurated because the following error appear:

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_INCLUDE_DIR

The variable CHOLMOD_INCLUDE_DIR is defined in g2o library, maybe if you reinstall it will dissapear.

openni-dev is not required by S-PTAM so it is ok if it is not found.

Give it a shot and let me know.

Taihú

[mb55420]

Dear @taihup ,

Thanks for your reply.
Yes, I had rebuilt the g2o as guided from README.md.
Here are my steps on installing g2o:
$ svn co https://svn.openslam.org/data/svn/g2o
$ cd ~/g2o/trunk/build
$ cmake ..
$ make
$ make install

g2o header file location:
https://www.dropbox.com/s/9xbfiy1f73tcz2e/g2o_include.jpg?dl=0

g2o lib file location:
https://www.dropbox.com/s/bhkj6q6gwaaht5v/g2o_lib.jpg?dl=0

How could I fix it for the variable CHOLMOD_INCLUDE_DIR?
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_INCLUDE_DIR

THX~
MB

[taihup]

Hi MB,

I have been looking this error in the web and there is an answer in: uzh-rpg/rpg_svo#29

The message:

"The reason is due to the fact that we were compiling g2o, we missed the cholmod lib so that the G2O_SOLVER_CHOLMOD is not built at all. so solve it, do the following.
$ sudo apt-get install libsuitesparse-dev libsuitesparse-metis-dev
then build the g2o again and install to it as instructed.

Hope it helps."

So the steps are:

1. Uninstall g2o (remove completely)
2. install suitsparse library ( sudo apt-get install libsuitesparse-dev libsuitesparse-metis-dev )
3. Build g2o (again) and Install g2o

Let me know if it helps.

Taihú

[mb55420]

Awesome, it works :)
I just follow steps you suggested.
Thank you so much, Taihú~

MB

[taihup]

Great!

[HaniItani]

Hello @taihup

I was wondering if there is any way to build/use the SPTAM code of RAS 2017 on Ubuntu 14.04 with OpenCV 2.4 with loop closure enabled. My question comes after bumping into distributed-sptam that is said to be compatible with my system. I acknowledge that my setup is relatively archaic, but upgrading is not an option at the moment.

Any insight is much appreciated! Thank you in advance.

[taihup]

Hi @HaniItani, mmm I am not sure if it is going to work. The early version of S-PTAM used to work on 14.04 but it was not maintained anymore. I think it is possible, but could take some work. You can give it a shot. Notice that in S-PTAM we have to patch how to find the OpenCV that comes with ROS. You can find the related code in https://github.com/lrse/sptam/blob/master/cmake-modules/dependencies.cmake. So, to use opencv 2.4 you should change this, and ask OpenCV 2.4 in the right way.

Another option that you have is to install a docker with an ubuntu 16.04 image in your ubuntu 14.04. I think this is the easiest solution. Then you can install the new version of S-PTAM in the docker.