rtabmap编译问题总结

rtabmap编译问题总结

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1. 编译过程中/usr/include/ni各种未定义问题，卸载重装libopenni-dev：
   sudo apt-get autoremove libopenni-dev
sudo apt-get install libopenni-dev
2. 然后在cmake的时候可能会遇到各种vtk相关model找不到，可能因为vtk依赖下面两package：
   sudo apt-get install libvtk-java python-vtk
3. primesense驱动问题：引用 “After installing the driver it is necessary to change the “USB interface” that is used to BULK endpoints by uncommenting UsbInterface=2 in GlobalDefaults.ini (/usr/etc/primesense/GlobalDefaults.ini). I’ve also found it works when the interface is set to 0. The following comment from the file explains the meaning of the parameters: ; USB interface to be used. 0 - FW Default, 1 - ISO endpoints, 2 - BULK endpoints. Default: Arm - 2, other platforms - 1”