Checked already. I have nowhere nonfree.hpp in my system. Seems to be that its part from another opencv version. Now I don't know what to do.

ros@host1:~/catkin_ws$ sudo find / -name nonfree.hpp
[sudo] password for ros: 
ros@host1:~/catkin_ws$ sudo find / -type d -name opencv2
/usr/include/opencv2
ros@host1:~/catkin_ws$ ll /usr/include/opencv2
insgesamt 104
drwxr-xr-x  20 root root  4096 Aug 16 12:21 ./
drwxr-xr-x 128 root root 20480 Aug 17 13:49 ../
drwxr-xr-x   2 root root  4096 Aug 16 12:20 calib3d/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 contrib/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 core/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 features2d/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 flann/
drwxr-xr-x   3 root root  4096 Aug 16 12:21 gpu/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 highgui/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 imgproc/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 legacy/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 ml/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 objdetect/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 ocl/
-rw-r--r--   1 root root  2751 Jan 28  2014 opencv.hpp
-rw-r--r--   1 root root   644 Feb 25 13:42 opencv_modules.hpp
drwxr-xr-x   2 root root  4096 Aug 16 12:21 photo/
drwxr-xr-x   3 root root  4096 Aug 16 12:21 stitching/
drwxr-xr-x   2 root root  4096 Aug 16 12:21 superres/
drwxr-xr-x   2 root root  4096 Aug 16 12:21 ts/
drwxr-xr-x   2 root root  4096 Aug 16 12:20 video/
drwxr-xr-x   2 root root  4096 Aug 16 12:21 videostab/

I think you need to download these files specifically (Suspect someone can confirm)

https://code.google.com/p/qtphotomanager/source/browse/thirdparty/opencv/include/?r=74c8bb7f8fb62ef3819333ec46ac26a290b61ab7#https://code.google.com/p/qtphotomanager/source/browse/thirdparty/opencv/include?r=74c8bb7f8fb62ef3819333ec46ac26a290b61ab7#

and some info about it here (not ROS related but probably :

http://answers.opencv.org/question/19882/opencv2nonfreefeatures2dhpp-file-not-getting-in/

Might be worth commenting the file out and see how you get on

Thanks Mark, that helped to pass the step regarding nonfree.hpp. Now there is stil below error present. Seems to be another version problem. Yet not clear how to fix that.

...
[ 63%] [ 64%] [ 65%] [ 66%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/openni_listener.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/transformation_estimation_euclidean.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/misc.o
Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/transformation_estimation.o
/home/ros/catkin_ws/src/rgbdslam_v2-hydro/src/openni_listener.cpp: In member function ‘void OpenNIListener::loadBag(std::string)’:
/home/ros/catkin_ws/src/rgbdslam_v2-hydro/src/openni_listener.cpp:271:91: error: ‘const struct tf::tfMessage_<std::allocator<void> >’ has no member named ‘__connection_header’
           boost::shared_ptr<std::map<std::string, std::string> > msg_header_map = tf_msg->__connection_header;
                                                                                           ^
[ 67%] Building CXX object rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/graph_manager2.o
make[2]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/openni_listener.o] Fehler 1
make[2]: *** Warte auf noch nicht beendete Prozesse...
make[1]: *** [rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/all] Fehler 2
make: *** [all] Fehler 2
Invoking "make" failed

You need libopencv_nonfree.so google it and you'll find places to download it from - OpenCV installation instructions here: http://www.samontab.com/web/2012/06/installing-opencv-2-4-1-ubuntu-12-04-lts/

Thanks again Mark. Meanwhile I got it from here https://code.google.com/p/myrobotlab/source/browse/trunk/myrobotlab/thirdParty/repo/net.sourceforge.opencv/opencv/2.4.3/?r=1064#2.4.3%2Fx86.64.linux and I was able to link. Unfortunatly I'm running in a new issue. If run my fresh compiled rgdbslam V2 I get a segmentation fault. Trying to gdb gives following output:

  (gdb) run
    Starting program: /home/ros/catkin_ws/devel/lib/rgbdslam/rgbdslam 
    [Thread debugging using libthread_db enabled]
    Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
    [New Thread 0x7fffd7cdc700 (LWP 28410)]
    [New Thread 0x7fffd74db700 (LWP 28411)]
    [New Thread 0x7fffd6cda700 (LWP 28412)]

    Program received signal SIGSEGV, Segmentation fault.
    0x00007ffff7582a8c in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() () from /usr/lib/libpcl_io.so.1.7
    (gdb) bt
#0  0x00007ffff7582a8c in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() () from /usr/lib/libpcl_io.so.1.7
#1  0x00007ffff750d186 in ?? () from /usr/lib/libpcl_io.so.1.7
#2  0x00007ffff7dea13a in call_init (l=<optimized out>, argc=argc@entry=1, argv=argv@entry=0x7fffffffdb58, env=env@entry=0x7fffffffdb68) at dl-init.c:78
#3  0x00007ffff7dea223 in call_init (env=<optimized out>, argv=<optimized out>, argc=<optimized out>, l=<optimized out>) at dl-init.c:36
#4  _dl_init (main_map=0x7ffff7ffe1c8, argc=1, argv=0x7fffffffdb58, env=0x7fffffffdb68) at dl-init.c:126
#5  0x00007ffff7ddb30a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#6  0x0000000000000001 in ?? ()
#7  0x00007fffffffdf23 in ?? ()
#8  0x0000000000000000 in ?? ()

I'm not the gdb specialist so I tried to search for lanczos_initializer. I have currently no idea how to continue checking whats wrong. Its similar to here http://answers.ros.org/question/178781/segfault-on-roslaunch-rgbdslam-pcl-17-related/ Couldn't yet find any information in the inet.

ros@host1:~/catkin_ws$ find . -type f -name '*' -exec grep -H lanczos_initializer {} \;
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server.dir/src/TrackingOctomapServer.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server.dir/src/OctomapServer.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server.dir/src/OctomapServerMultilayer.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server_node.dir/src/octomap_server_node.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server_nodelet.dir/src/octomap_server_nodelet.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_tracking_server_node.dir/src/octomap_tracking_server_node.cpp.o.
Übereinstimmungen in Binärdatei ./build/octomap_mapping/octomap_server/CMakeFiles/octomap_server_multilayer.dir/src/octomap_server_multilayer.cpp.o.
Übereinstimmungen in Binärdatei ./build/rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/node.o.
Übereinstimmungen in Binärdatei ./build/rgbdslam_v2-hydro/CMakeFiles/rgbdslam.dir/src/misc.o.
Übereinstimmungen in Binärdatei ./devel/lib/liboctomap_server_nodelet.so.
Übereinstimmungen in Binärdatei ./devel/lib/octomap_server/octomap_server_multilayer.
Übereinstimmungen in Binärdatei ./devel/lib/octomap_server/octomap_tracking_server_node.
Übereinstimmungen in Binärdatei ./devel/lib/octomap_server/octomap_server_node.
Übereinstimmungen in Binärdatei ./devel/lib/rgbdslam/rgbdslam.
Übereinstimmungen in Binärdatei ./devel/lib/liboctomap_server.so.

Difficult to say - similar problem here?? (resolved by recompiling PCL from scratch) http://www.pcl-users.org/Segfault-when-declaring-boost-shared-ptr-td4031530.html

I built pcl from source but it didn't solved the problem. Get still segfault at the same location. (to be sure I checked with ldd that new built pcl libs are used). It is bewitched! Any other other idea?

Program received signal SIGSEGV, Segmentation fault.
    0x00007ffff7582a8c in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() () from /usr/lib/libpcl_io.so.1.7

Here the complete gdp out using new built PCL

ros@host1:~/catkin_ws$ gdb /home/ros/catkin_ws/devel/lib/rgbdslam/rgbdslam core 
GNU gdb (Ubuntu 7.7-0ubuntu3.1) 7.7
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/ros/catkin_ws/devel/lib/rgbdslam/rgbdslam...(no debugging symbols found)...done.
[New LWP 12741]
[New LWP 12742]
[New LWP 12743]
[New LWP 12744]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
Core was generated by `/home/ros/catkin_ws/devel/lib/rgbdslam/rgbdslam'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0  0x00007f868a7e7b1c in lanczos_sum<long double> (z=@0x7fff54b43420: 1) at /usr/include/boost/math/special_functions/lanczos.hpp:897
897       };
(gdb) bt
#0  0x00007f868a7e7b1c in lanczos_sum<long double> (z=@0x7fff54b43420: 1) at /usr/include/boost/math/special_functions/lanczos.hpp:897
#1  boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init (this=<optimized out>) at /usr/include/boost/math/special_functions/lanczos.hpp:49
#2  0x00007f868a769bb6 in __static_initialization_and_destruction_0 (__initialize_p=1, __priority=65535) at /usr/include/boost/math/special_functions/lanczos.hpp:64
#3  _GLOBAL__sub_I_hdl_grabber.cpp(void) () at /home/ros/catkin_ws/src/pcl/io/src/hdl_grabber.cpp:646
#4  0x00007f868afeb13a in call_init (l=<optimized out>, argc=argc@entry=1, argv=argv@entry=0x7fff54b43548, env=env@entry=0x7fff54b43558) at dl-init.c:78
#5  0x00007f868afeb223 in call_init (env=<optimized out>, argv=<optimized out>, argc=<optimized out>, l=<optimized out>) at dl-init.c:36
#6  _dl_init (main_map=0x7f868b1ff1c8, argc=1, argv=0x7fff54b43548, env=0x7fff54b43558) at dl-init.c:126
#7  0x00007f868afdc30a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#8  0x0000000000000001 in ?? ()
#9  0x00007fff54b43ee0 in ?? ()
#10 0x0000000000000000 in ?? ()
(gdb)

Regarding boost::shared_ptr > msg_header_map = tf_msg->__connection_header; This header seems to be deprecated since Hydro and removed in Indigo, but I would agree that it may be not needed/important at all. thread

Hello Pat,

I have the same seg fault for pcl. Did you solve it?

Thanks

Any luck with the pcl seg fault so far?

I got it working by compiling boost_1_48_0, then compiling pcl-1.7.0 against boost. Then compiled perception_pcl, pcl_conversions and rgbdslam against pcl. I haven't tested it thoroughly, but the launch file does not crash and rgbldslam gui loads

I was able to compile it in that way by additionally set cmake flags to SET(CMAKE_CXX_FLAGS "-ggdb -O3 -fPIC -std=c++11") to use C++11 standard. but rgbdslam always crashes on startup. any ideas?