RTabmap 编译和运行中跳过的坑
1、编译环境介绍及说明
Ubuntu 14.04
ros-indigo
CUDA 8.0 nvidia gtx 1070
遇到的主要问题
1. librtabmap_gui.so.0.15: cannot open shared object file https://github.com/introlab/rtabmap_ros/issues/222
2. /usr/bin/ld: cannot find -lopencv_dep_cudart https://github.com/introlab/rtabmap/issues/269
2、安装vtk6.3.0
参考教程
（1）下载qt5.6 http://download.qt.io/official_releases/qt/5.6/5.6.0/
$ chmod +x qt-opensource-linux-x64-5.6.0.run
$ ./qt-opensource-linux-x64-5.6.0.runqtcreator的配置
（2）编译vtk6.3.0
$ cd VTK-6.3.0/build
$ cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/home/turtlebot/Qt5.6.0/5.6/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/home/turtlebot/Qt5.6.0/5.6/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..但是出现错误：
CMake Error at /home/turtlebot/Qt5.6.0/5.6/gcc_64/lib/cmake/Qt5/Qt5Config.cmake:26 (find_package):
Could not find a package configuration file provided by "Qt5WebKitWidgets"
with any of the following names:
Qt5WebKitWidgetsConfig.cmake
qt5webkitwidgets-config.cmake
Add the installation prefix of "Qt5WebKitWidgets" to CMAKE_PREFIX_PATH or
set "Qt5WebKitWidgets_DIR" to a directory containing one of the above
files. If "Qt5WebKitWidgets" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
GUISupport/QtWebkit/CMakeLists.txt:10 (find_package)
-- Configuring incomplete, errors occurred!所以，重新下载了VTK7.1.1， 地址
$ cd VTK-7.1.1 & mkdir build & cd build
$ cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/home/turtlebot/Qt5.6.0/5.6/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/home/turtlebot/Qt5.6.0/5.6/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ..
$ make3、编译pcl
选择版本为1.8
$ cd pcl
$ mkdir build & cd build
$ cmake ..
$ make
$ sudo make install使用pcl_viewer测试，点云显示正常
4、编译Rtabmap
$ cd rtabmap
$ mkdir build & cd build
$ cmake ..cmake没有问题，当make时出现错误
[ 6%] Linking CXX executable ../../../bin/rtabmap-imagesJoiner
/usr/bin/ld: cannot find -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
make[2]: *** [../bin/rtabmap-imagesJoiner] Error 1解决方法（https://github.com/opencv/opencv/issues/6542）：
$ cmake -D CUDA_USE_STATIC_CUDA_RUNTIME=OFF ..
$ make测试rtabmap：
$ cd ../bin
$ ./rtabmap可以显示窗口，测试通过！
$ cd ../build
$ sudo make install5、编译rtabmap_ros
使用catkin_make编译时，出现错误/usr/bin/ld: cannot find -lopencv_dep_cudart。这个问题主要是opencv安装的问题，所以重新编译安装OpenCV
下载opencv-2.4.13， 安装教程
$ cd opencv-2.4.13
$ mkdir build & cd build
$ cmake -D CMAKE_BUILD_TYPE=RELEASE ..出现警告
CMake Warning at cmake/OpenCVPackaging.cmake:23 (message):
CPACK_PACKAGE_VERSION does not match version provided by version.hpp
header!
Call Stack (most recent call first):
CMakeLists.txt:1105 (include)请打开opencv-2.4.13\CMakeLists.txt，修改set(OPENCV_VCSVERSION “unknown”)为set(OPENCV_VCSVERSION “2.4.13”)
if(GIT_EXECUTABLE)
execute_process(COMMAND ${GIT_EXECUTABLE} describe --tags --always --dirty --match "2.[0-9].[0-9]*"
WORKING_DIRECTORY "${OpenCV_SOURCE_DIR}"
OUTPUT_VARIABLE OPENCV_VCSVERSION
RESULT_VARIABLE GIT_RESULT
ERROR_QUIET
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT GIT_RESULT EQUAL 0)
set(OPENCV_VCSVERSION "2.4.13")
endif()
else()
# We don't have git:
set(OPENCV_VCSVERSION "2.4.13")
endif()各种尝试想使用cuda在opencv中，但是最后都失败，所以决定不适用cuda了。关于cmake cannot find -lopencv_dep_cudart的讨论
$ sudo make uninstall
$ rm -rf *
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D WITH_OPENCL=OFF -D WITH_CUDA=OFF ..
$ make
$ sudo make install之后先卸载rtabmap，之后在重新编译安装，最后编译rtabmap_ros
$ cd rtabmap/build
$ sudo make uninstall
$ cmake .. [<---double dots included]
$ make
$ sudo make install
$ cd ~/catkin_ws
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make当编译rtabmap_ros时初夏下面错误
/usr/bin/ld: warning: libpcl_visualization.so.1.8, needed by /usr/local/lib/librtabmap_gui.so, may conflict with libpcl_visualization.so.1.7
/usr/local/lib/librtabmap_gui.so: undefined reference to `QGraphicsEllipseItem::contains(QPointF const&) const@Qt_5'
/usr/local/lib/libvtkGUISupportQt-7.1.so.1: undefined reference to `QPainter::drawPath(QPainterPath const&)@Qt_5'
/usr/local/lib/librtabmap_gui.so: undefined reference to `QGridLayout::addWidget(QWidget*, int, int, QFlags)@Qt_ 5'
/usr/local/lib/librtabmap_gui.so: undefined reference to `QLayout::setSpacing(int)@Qt_5'
/usr/local/lib/libvtkGUISupportQt-7.1.so.1: undefined reference to `QTouchEvent::TouchPoint::state() const@Qt_5'
/usr/local/lib/librtabmap_gui.so: undefined reference to `QMenu::clear()@Qt_5'
/usr/local/lib/librtabmap_gui.so: undefined reference to `QMutex::lock()@Qt_5'应该是pcl版本不对，所以改成1.7.0编译安装
$ cd pcl/build
$ sudo make uninstall
$ rm -rf *
$ cmake ..
$ make还是关于vtk的问题
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::savePolygonFileVTK(const string&, const pcl::PolygonMesh&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:181:16: error: ‘class vtkPolyDataWriter’ has no member named ‘SetInput’
poly_writer->SetInput (poly_data);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::savePolygonFilePLY(const string&, const pcl::PolygonMesh&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:197:16: error: ‘class vtkPLYWriter’ has no member named ‘SetInput’
poly_writer->SetInput (poly_data);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::savePolygonFileSTL(const string&, const pcl::PolygonMesh&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:212:14: error: ‘class vtkPolyData’ has no member named ‘Update’
poly_data->Update ();
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:214:16: error: ‘class vtkSTLWriter’ has no member named ‘SetInput’
poly_writer->SetInput (poly_data);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::vtk2mesh(const vtkSmartPointer&, pcl::PolygonMesh&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:280:53: warning: ‘void vtkAOSDataArrayTemplate::GetTupleValue(vtkIdType, vtkAOSDataArrayTemplate::ValueType*) [with ValueTypeT = unsigned char; vtkIdType = long long int; vtkAOSDataArrayTemplate::ValueType = unsigned char]’ is deprecated (declared at /usr/local/include/vtk-7.1/vtkAOSDataArrayTemplate.h:218) [-Wdeprecated-declarations]
poly_colors->GetTupleValue (i, &point_color[0]);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:309:40: warning: ‘void vtkAOSDataArrayTemplate::GetTupleValue(vtkIdType, vtkAOSDataArrayTemplate::ValueType*) [with ValueTypeT = float; vtkIdType = long long int; vtkAOSDataArrayTemplate::ValueType = float]’ is deprecated (declared at /usr/local/include/vtk-7.1/vtkAOSDataArrayTemplate.h:218) [-Wdeprecated-declarations]
normals->GetTupleValue (i, normal);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::vtk2mesh(const vtkSmartPointer&, pcl::TextureMesh&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:373:44: warning: ‘void vtkAOSDataArrayTemplate::GetTupleValue(vtkIdType, vtkAOSDataArrayTemplate::ValueType*) [with ValueTypeT = float; vtkIdType = long long int; vtkAOSDataArrayTemplate::ValueType = float]’ is deprecated (declared at /usr/local/include/vtk-7.1/vtkAOSDataArrayTemplate.h:218) [-Wdeprecated-declarations]
texture_coords->GetTupleValue (i, tex);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘int pcl::io::mesh2vtk(const pcl::PolygonMesh&, vtkSmartPointer&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:452:42: warning: ‘vtkIdType vtkAOSDataArrayTemplate::InsertNextTupleValue(const ValueType*) [with ValueTypeT = unsigned char; vtkIdType = long long int; vtkAOSDataArrayTemplate::ValueType = unsigned char]’ is deprecated (declared at /usr/local/include/vtk-7.1/vtkAOSDataArrayTemplate.h:221) [-Wdeprecated-declarations]
colors->InsertNextTupleValue (color);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:469:44: warning: ‘vtkIdType vtkAOSDataArrayTemplate::InsertNextTupleValue(const ValueType*) [with ValueTypeT = float; vtkIdType = long long int; vtkAOSDataArrayTemplate::ValueType = float]’ is deprecated (declared at /usr/local/include/vtk-7.1/vtkAOSDataArrayTemplate.h:221) [-Wdeprecated-declarations]
normals->InsertNextTupleValue (normal);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp: In function ‘void pcl::io::saveRangeImagePlanarFilePNG(const string&, const pcl::RangeImagePlanar&)’:
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:486:39: error: no matching function for call to ‘vtkImageData::SetNumberOfScalarComponents(int)’
image->SetNumberOfScalarComponents(1);
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:486:39: note: candidate is:
In file included from /home/turtlebot/ThridPKG/pcl/io/include/pcl/io/vtk_lib_io.h:72:0,
from /home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:38:
/usr/local/include/vtk-7.1/vtkImageData.h:361:15: note: static void vtkImageData::SetNumberOfScalarComponents(int, vtkInformation*)
static void SetNumberOfScalarComponents( int n, vtkInformation* meta_data);
^
/usr/local/include/vtk-7.1/vtkImageData.h:361:15: note: candidate expects 2 arguments, 1 provided
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:487:10: error: ‘class vtkImageData’ has no member named ‘SetScalarTypeToFloat’
image->SetScalarTypeToFloat();
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:488:26: error: no matching function for call to ‘vtkImageData::AllocateScalars()’
image->AllocateScalars();
^
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:488:26: note: candidates are:
In file included from /home/turtlebot/ThridPKG/pcl/io/include/pcl/io/vtk_lib_io.h:72:0,
from /home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:38:
/usr/local/include/vtk-7.1/vtkImageData.h:286:16: note: virtual void vtkImageData::AllocateScalars(int, int)
virtual void AllocateScalars(int dataType, int numComponents);
^
/usr/local/include/vtk-7.1/vtkImageData.h:286:16: note: candidate expects 2 arguments, 0 provided
/usr/local/include/vtk-7.1/vtkImageData.h:294:16: note: virtual void vtkImageData::AllocateScalars(vtkInformation*)
virtual void AllocateScalars(vtkInformation* pipeline_info);
^
/usr/local/include/vtk-7.1/vtkImageData.h:294:16: note: candidate expects 1 argument, 0 provided
/home/turtlebot/ThridPKG/pcl/io/src/vtk_lib_io.cpp:507:47: error: ‘class vtkImageData’ has no member named ‘GetProducerPort’
shiftScaleFilter->SetInputConnection(image->GetProducerPort()); 我发现pcl 1.7.0是2013提交的，可能版本有点老，所以改成1.7.2试试，它是2014提交的。
$ git checkout pcl-1.7.2
$ cd build
$ rm -rf *
$ cmake ..
$ make还是编译失败
pcl/visualization/src/pcl_visualizer.cpp:59:36: fatal error: vtkVisibleCellSelector.h: No such file or directory
#include 所以，现在想把vtk降回6.0版本，所以qt也应该降回4.0。参考教程
首先下载qt4.8.6，编译安装
$ wget http://download.qt-project.org/official_releases/qt/4.8/4.8.6/qt-everywhere-opensource-src-4.8.6.tar.gz
$ tar xzf qt-everywhere-opensource-src-4.8.6.tar.gz
$ cd qt-everywhere-opensource-src-4.8.6
$ ./configure # go through the dialogue
$ make -j<# of cores>
$ sudo make install # install in /usr/local/Trolltech再编译vtk-6.3.0
$ cd vtk-6.3.0/build
$ cmake -DQT_QMAKE_EXECUTABLE:PATH=/home/turtlebot/ThridPKG/qt-everywhere-opensource-src-4.8.6/bin/qmake -DVTK_Group_Qt:BOOL=ON -DBUILD_SHARED_LIBS:BOOL=ON ..
$ make -j8
$ sudo make install继续重新编译pcl。
卸载rtabmap，重新编译。但是测试时出现错误：
$ ./rtabmap-databaseViewer ~/.ros/rtabmap.db
*** Error in `./rtabmap-databaseViewer': realloc(): invalid pointer: 0x00007fdf23ab6840 ***
Aborted (core dumped)其实在cmake的时候就会爆出关于qt5的警告
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:26 (find_package):
Could not find a package configuration file provided by "Qt5Svg" with any
of the following names:
Qt5SvgConfig.cmake
qt5svg-config.cmake
Add the installation prefix of "Qt5Svg" to CMAKE_PREFIX_PATH or set
"Qt5Svg_DIR" to a directory containing one of the above files. If "Qt5Svg"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:223 (FIND_PACKAGE)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:35 (message):
Failed to find Qt5 component "Svg" config file at
"/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
CMakeLists.txt:223 (FIND_PACKAGE)
-- Found Freenect: /opt/ros/indigo/include/libfreenect
CMake Warning at cmake_modules/FindKinectSDK2.cmake:71 (message):
Directory "" not found.
Call Stack (most recent call first):
cmake_modules/FindKinectSDK2.cmake:119 (check_dir)
CMakeLists.txt:270 (FIND_PACKAGE)
-- KinectSDK2_FOUND : FALSE
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found cvsba: /usr/local/include
-- Found RealSense: /opt/ros/indigo/include
-- Found octomap: /opt/ros/indigo/include
-- Found Pthreads
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreMacros.cmake:224 (configure_file):
configure_file called with unknown argument(s):
COPY_ONLY
Call Stack (most recent call first):
guilib/src/CMakeLists.txt:68 (QT5_ADD_RESOURCES)我的vtk6.3.0和pcl1.7.2都使用的是qt4.8.6，但是rtabmap优先查找qt5。所以删除到查找qt5的语句（git diff）：
# ANDROID_PREBUILD (early exit if true)
@@ -217,18 +217,10 @@ IF(WITH_QT)
# If Qt is here, the GUI will be built
# look for Qt5 (if vtk>5 is installed) before Qt4
- IF("${VTK_MAJOR_VERSION}" GREATER 5)
- FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
- IF(Qt5_FOUND)
- FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
- ENDIF(Qt5_FOUND)
- ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
-
- IF(NOT Qt5_FOUND)
- FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
- ENDIF(NOT Qt5_FOUND)
-
- IF(QT4_FOUND OR Qt5_FOUND)
+
+ FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+
+ IF(QT4_FOUND)
IF("${VTK_MAJOR_VERSION}" EQUAL 5)
FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
ELSE()
@@ -238,7 +230,7 @@ IF(WITH_QT)
SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
ENDIF(value EQUAL -1)
ENDIF()
- ENDIF(QT4_FOUND OR Qt5_FOUND)
+ ENDIF(QT4_FOUND)编译通过
第一次编译rtabmap遇到的错误
Could not find a configuration file for package “RTABMap” that is compatible with requested version “0.11.10”.
博客地址
——————– 分割线 ———————
新问题
编译rtabmap：
$ cmake ..
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Checking for module 'eigen3'
-- Found eigen3, version 3.3.4
-- Found eigen: /usr/local/include/eigen3
-- Checking for module 'openni-dev'
-- No package 'openni-dev' found
-- Found openni: /usr/lib/libOpenNI.so
-- Checking for module 'openni2-dev'
-- No package 'openni2-dev' found
-- Found OpenNI2: /usr/lib/libOpenNI2.so
-- Found libusb-1.0: /usr/include
-- Checking for module 'flann'
-- Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- Checking for module 'openni-dev'
-- No package 'openni-dev' found
-- Checking for module 'openni2-dev'
-- No package 'openni2-dev' found
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so
-- Found PCL_IO: /usr/local/lib/libpcl_io.so
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.7
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp
-- Found OpenMP
-- Found OpenCV: /usr/local/include/opencv;/usr/local/include
-- Found PCL: /usr/local/include/pcl-1.7;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/local/include/vtk-6.3
-- Found ZLIB: /usr/include
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:26 (find_package):
Could not find a package configuration file provided by "Qt5Svg" with any
of the following names:
Qt5SvgConfig.cmake
qt5svg-config.cmake
Add the installation prefix of "Qt5Svg" to CMAKE_PREFIX_PATH or set
"Qt5Svg_DIR" to a directory containing one of the above files. If "Qt5Svg"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:224 (FIND_PACKAGE)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:35 (message):
Failed to find Qt5 component "Svg" config file at
"/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
CMakeLists.txt:224 (FIND_PACKAGE)
-- Found Freenect: /opt/ros/indigo/include/libfreenect
CMake Warning at cmake_modules/FindKinectSDK2.cmake:71 (message):
Directory "" not found.
Call Stack (most recent call first):
cmake_modules/FindKinectSDK2.cmake:119 (check_dir)
CMakeLists.txt:271 (FIND_PACKAGE)
-- KinectSDK2_FOUND : FALSE
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found CSPARSE: /usr/include/suitesparse
-- Old g2o version detected with c++03 interface (config file: /usr/local/include/g2o/config.h).
-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found cvsba: /usr/local/include
-- Found RealSense: /opt/ros/indigo/include
-- Found octomap 1.6.9: /opt/ros/indigo/include
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Found Pthreads
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/Qt5Core/Qt5CoreMacros.cmake:224 (configure_file):
configure_file called with unknown argument(s):
COPY_ONLY
Call Stack (most recent call first):
guilib/src/CMakeLists.txt:68 (QT5_ADD_RESOURCES)
This warning is for project developers. Use -Wno-dev to suppress it.
-- yaml-cpp not found, euroc_dataset tool won't be built...
-- --------------------------------------------
-- Info :
-- Version : 0.16.3
-- CMAKE_INSTALL_PREFIX = /usr/local
-- 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++11
-- With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)
-- 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 = YES (License: BSD)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = YES (License: GPLv2)
-- With libpointmatcher = NO (libpointmatcher not found)
-- With ZED = NO (ZED sdk not found)
-- With RealSense = YES (License: Apache-2)
-- With RealSenseSlam = NO (WITH_REALSENSE_SLAM=OFF)
-- With OCTOMAP = YES (License: BSD)
-- With CPUTSDF = NO (CPUTSDF 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 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/turtlebot/ThridPKG/rtabmap/build依然有QT5的问题，和前面处理方式一样。测试没有问题，然后sudo make install
下来编译rtabmap_ros，出现了undefined reference类型的错误。
我也在github上问了这个问题
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/rgbd_odometry] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/rgbd_odometry.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/icp_odometry] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/icp_odometry.dir/all] Error 2
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to/ `pclusr::/search:local/:KdTreelib/reference pcl to:: `KdTreeFLANN pcl:> :KdTreeFLANN>:' flann
/::usr/L2_Simplelocal /librtabmap_core.so> : >:undefined :KdTreereference (boolto )'`pcl
/::usr/search:local/:KdTreelib/reference pcl to:: `KdTreeFLANN pcl:> :KdTreeFLANN>:' flann
/::usr/L2_Simple /librtabmap_core.so> : >:undefined :setPointRepresentationreference (boostto ::`pclshared_ptr<::pcl:search::PointRepresentation:KdTreePointXYZRGBNormal, const pcl> ::const&KdTreeFLANN)' reference > to > `::pcl:setSortedResults(:searchbool)::'
KdTree:: >PointXYZRGBNormal::, setPointRepresentation(pcl:boost::KdTreeFLANN:shared_ptr float>const> > const >&)::'
nearestKSearch(/usrpcl:/local:PointXYZRGBNormal/lib const/librtabmap_core.so&,: intundefined , reference std:to :vector`pcl PointXYZRGB,>& pcl, ::std:KdTreeFLANN<:vectorpcl: > >&> ) >:const':nearestKSearch
/(pclusr/::local/PointXYZRGB lib/const&librtabmap_core.so:, undefinedint, reference std to:: `vector:PointXYZRGB >, &,pcl: std:KdTreeFLANN:: > >&> ) >:const:' setInputCloud
/(boostusr/::local/shared_ptrreference :PointXYZRGBto > `pclconst>:: constsearch:&,:KdTree boost :L2_Simple> > const> &)>:'
:KdTree/usr(bool/local)'/lib
//librtabmap_core.sousr/: local/undefined lib/reference librtabmap_core.so:to undefined`pcl reference:: tosearch: `:KdTreepcl: ::> L2_Simple<>:float>:KdTree >(bool >)'::
/radiusSearch(usr/pcl:local/:PointXYZRGBlib/ constlibrtabmap_core.so:&, undefined double reference, tostd: `:vectorpcl: , >&pcl:, :KdTreeFLANNstd:> >>& >, ::unsigned radiusSearch(int)pcl: const:PointXYZRGBNormal'
const/usr&,/local double/lib, /librtabmap_core.sostd:: :vectorundefined :KdTree>& flann:>&:L2_Simple, int)> const>:'
:KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search:collect2: error: ld returned 1 exit status
:KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pclmake[2]: ::PointXYZRGBNormal const&*** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/stereo_odometry] Error 1,
double, std::vector >&, std::vector >&, unsigned int) const'
collect2: error: ld returned 1 exit status
make[1]: *** [rtabmap_ros/CMakeFiles/stereo_odometry.dir/all] Error 2
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/rtabmap] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap.dir/all] Error 2
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/rgbdicp_odometry] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/rgbdicp_odometry.dir/all] Error 2
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/camera] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/camera.dir/all] Error 2
[ 83%] Linking CXX executable /home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/odom_msg_to_tf
[ 84%] Linking CXX executable /home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/data_player
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/odom_msg_to_tf] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/odom_msg_to_tf.dir/all] Error 2
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGB const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::nearestKSearch(pcl::PointXYZRGBNormal const&, int, std::vector >&, std::vector >&) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setInputCloud(boost::shared_ptr const> const&, boost::shared_ptr > const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGBNormal const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setPointRepresentation(boost::shared_ptr const> const&)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::radiusSearch(pcl::PointXYZRGB const&, double, std::vector >&, std::vector >&, unsigned int) const'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::setSortedResults(bool)'
/usr/local/lib/librtabmap_core.so: undefined reference to `pcl::search::KdTree > >::KdTree(bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/turtlebot/catkin_ws_rtabmap/devel/lib/rtabmap_ros/data_player] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/data_player.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed 也许是安装ros-indigo时装的pcl和自己编译安装的pcl有冲突，所以卸载了自己编译安装的pcl，之后重新编译rtabmap，但是测试时出现vtk5.8的问题。
依然安装自己编译的pcl1.7，然后编译rtabmap并安装
在rtabmap_ros/CMakelists.text中添加：
find_package(PCL REQUIRED)
add_definitions(${PCL_DEFINITIONS})
link_directories(${PCL_LIBRARY_DIRS})
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/include
${RTABMap_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
# libraries
SET(Libraries
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${RTABMap_LIBRARIES}
${PCL_LIBRARIES}
)编译通过并且可以建图，但是不能显示主界面，提示错误如下：
[rtabmap/rtabmapviz-3] process has died [pid 32330, exit code -11, cmd /home/turtlebot/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d ~/.ros/rtabmap_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud odom:=odom __name:=rtabmapviz __log:=/home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3.log].
log file: /home/turtlebot/.ros/log/834461a8-30c8-11e8-8c8d-c8d3ffd835e0/rtabmap-rtabmapviz-3*.loggithub上的解决办法
1. 卸载rtabmap
2. 重新编译
$ cmake -DWITH_G2O=OFF -DWITH_GTSAM=OFF ..
$ make
$ sudo make install