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matlabbe
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@@ -70,7 +70,7 @@ This section shows how to install RTAB-Map ros-pkg on **ROS Hydro/Indigo/Jade/Ki
* On Indigo, 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 [vision-opencv](https://github.com/ros-perception/vision_opencv) package yourself (and all ros packages depending on it) so it can link on OpenCV3+.
* On Kinetic/Melodic/Noetic, build from source with *xfeatures2d* module (and *nonfree* module if needed) the same OpenCV version already installed on the system. You will then avoid breaking `cv_bridge` with `rtabmap_ros`. If you want to install a more recent OpenCV version, I recommend to uninstall `libopencv*` libraries (with all ros packages depending on it) and rebuild all those ros packages in your catkin workspace (to make sure `cv_bridge` is linked on the OpenCV version you just compiled).
* g2o: Should be already installed by `ros-noetic-libg2o`.
* [g2o](https://github.com/RainerKuemmerle/g2o): Should be already installed by `ros-noetic-libg2o`.
* [GTSAM](https://gtsam.org/get_started/): Install via PPA to avoid building from source. If you install from source, make sure to build with `cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON`.