FabMap activation (opencv 2.4.9 Ubuntu 14.04)

[tyutyuginslava]

Hello!
Please tell me how to properly connect openFabMap? How should I edit CMakeLists.txt?

System:
Ubuntu 14.04 64-bit
Opencv 2.4.9
ROS Indigo

Installing without openFabMap all works.
If I uncomment the line in CMakeLists.txt

add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap)
include_directories(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap/include)
add_definitions("-DHAVE_FABMAP")
set(FABMAP_LIB openFABMAP )

and make rosmake lsd_slam, I get the error:

Linking CXX executable ../bin/live_slam
//usr/local/lib/libopencv_nonfree.so: undefined reference to `cv :: ocl :: integral (cv :: ocl :: oclMat const &, cv :: ocl :: oclMat &) '
collect2: error: ld returned 1 exit status

log file
https://drive.google.com/file/d/0B_w8l8HXXdd8dnlULXZoRkozZk0/view?usp=sharing

[RDmitrich]

Same problem on System:
Ubuntu 14.04 arm
Opencv 2.4.9
ROS Indigo

pkg-config --libs opencv

shows link /usr/local/lib/libopencv_nonfree.so

[JakobEngel]

If anyone finds a universal, working way to fix the OpenCV-nonfree issue, I'd be very interested in that as well.
As it is, it took us several attempts to get it to run, and even then there were some problems remaining with the ImageDisplay. Seems like your current problem is a version-mismatch between the libopencv_nonfree.so and other opencv libraries (if I remember correctly, the integral function was slightly changed at some point).

[gpdaniels]

I approached this by compiling my own OpenCV, partly so I could enable CUDA. The moden versions of opencv (aka the git) require you to also download the modules repository, which is separate, to get the nonfree stuff.
OpenCV: https://github.com/Itseez/opencv
OpenCV Modules: https://github.com/Itseez/opencv_contrib

And then compile it all.

In FabMap.cpp you can then include:

#include <opencv2/xfeatures2d.hpp>
#include <opencv2/xfeatures2d/nonfree.hpp>

And need to modify the detector and extractor:

detector = cv::Ptr<cv::xfeatures2d::StarDetector>(new cv::xfeatures2d::StarDetector(32, 10, 18, 18, 20));
cv::Ptr<cv::DescriptorExtractor> extractor = cv::Ptr<cv::xfeatures2d::SURF>(new cv::xfeatures2d::SURF(1000, 4, 2, false, true));

I think that's all I changed.
Although this is for a non ros version, I'm not sure what you'd need to do to force cvbridge to behave.

[romulogcerqueira]

I followed @gpdaniels steps but it didn't work for me. I'm using Ubuntu 14.04 with OpenCV 2.4.10.

[gpdaniels]

When I did this I was using the git version of OpenCV which is now version 3.0 I think. These steps won't work unless you're using a very modern version of OpenCV.

[hca2014]

Hi.
Just thought I'd add that if one compiles and installs OpenCV including the cmake -D WITH_OPENCL=OFF option then the problem is resolved (although of cousrse OpenCL support is disabled) . See post here for additional information:
http://stackoverflow.com/questions/26553659/linking-opencv-nonfree-components-sift-features-and-ocl-specifically
Good luck.
P.S running Kubuntu 14.04 with CUDA 6.5 and OpenCV 2.4.10.

[hca2014]

Just as a follow up to my previous post - if after OpenCV compilation and installation you run lsd_slam and get an error such as:
"error while loading shared libraries: libopencv_nonfree.so.2.4: cannot open shared object file: No such file or directory"

then just make sure that you export the OpenCV library path so that it can be found (in my case it's /usr/local/lib):
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib

[romulogcerqueira]

I followed @hca2014 steps and it works for me! Thanks!