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matlabbe
2015-10-06 09:51:31 -04:00
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@@ -36,16 +36,20 @@ source ~/catkin_ws/devel/setup.bash
0. Optional dependencies
* If you want SURF/SIFT on Indigo/Jade (Hydro has already SIFT/SURF), you have to build [OpenCV]([OpenCV](http://opencv.org/)) from source to have access to *nonfree* module. Install it in `/usr/local` (default) and the rtabmap library should link with it instead of the one installed in ROS. I recommend to use latest 2.4 version ([2.4.11](https://github.com/Itseez/opencv/archive/2.4.11.zip)) and build it from source following these [instructions](http://docs.opencv.org/doc/tutorials/introduction/linux_install/linux_install.html#building-opencv-from-source-using-cmake-using-the-command-line). RTAB-Map can build with OpenCV3+[xfeatures2d](https://github.com/Itseez/opencv_contrib/tree/master/modules/xfeatures2d) module, but rtabmap_ros package will have libraries conflict as cv-bridge is depending on OpenCV2. If you want OpenCV3, you should build ros [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3.
* ROS (Qt, PCL, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap, CvBridge). Note that I've found that [latest g2o version](https://github.com/RainerKuemmerle/g2o) built from source is faster.
```bash
* ROS (Qt, PCL, dc1394, OpenNI, OpenNI2, Freenect, g2o, Costmap2d, Rviz, Octomap, CvBridge). Note that I've found that [latest g2o version](https://github.com/RainerKuemmerle/g2o) built from source gives is faster.
```bash
$ sudo apt-get install libqt4-dev libpcl-1.7-all-dev libdc1394-dev ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-freenect-launch ros-indigo-costmap-2d ros-indigo-octomap-ros ros-indigo-g2o ros-indigo-rviz ros-indigo-cv-bridge
```
* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam): Follow installation instructions from [here](https://collab.cc.gatech.edu/borg/gtsam/#quickstart). RTAB-Map needs latest version from source, it will not build with 3.2.1.
* [cvsba](http://www.uco.es/investiga/grupos/ava/node/39): Follow installation instructions from [here](http://www.uco.es/investiga/grupos/ava/node/39). Their installation is not standard CMake, you need these extra steps so RTAB-Map can find it:
```bash
```bash
$ mkdir /usr/local/lib/cmake/cvsba
$ mv /usr/local/lib/cmake/Findcvsba.cmake /usr/local/lib/cmake/cvsba/cvsbaConfig.cmake
```
* [Freenect2](https://github.com/OpenKinect/libfreenect2): Follow installation instructions from [here](https://github.com/OpenKinect/libfreenect2#debianubuntu-1404-perhaps-earlier).
1. Install the RTAB-Map standalone libraries (**don't checkout in the Catkin workspace** but install in your Catkin's devel folder).