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Problem with rtabmap_ros and nonfree OpenCV

asked 2016-04-15 09:30:34 -0500


I am trying to use rtabmap_ros with SIFT and SURF. I've installed nonfree OpenCV and can find the folder in /usr/include/opencv2. For some reason though whenever I run rtabmap_ros I get the message

[ WARN] (2016-04-15 10:21:56.026) Features2d.cpp:349::create() SURF/SIFT features cannot be used because OpenCV was not built with nonfree module. ORB is used instead.

Anyone know why rtabmap_ros can't find nonfree?

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you can check nonfree module is true or not when you catkin_make you project, if not, please build the opencv with source code , follow here

bluking gravatar image bluking  ( 2016-04-18 03:37:33 -0500 )edit

They were installed. As matlabbe said, I needed to do a clean build of rtabmap from source

Icehawk101 gravatar image Icehawk101  ( 2016-04-18 07:23:38 -0500 )edit

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answered 2016-04-15 12:56:38 -0500

matlabbe gravatar image


Make sure to do a clean build of rtabmap after OpenCV (with nonfree) is installed (step 2 here):

$ cd rtabmap/build
$ rm -r *
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
$ make
$ make install

When you do $ cmake .., make sure you see in the info at the end that OpenCV version with nonfree is detected.


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Yup, that did it. Thanks

Icehawk101 gravatar image Icehawk101  ( 2016-04-15 13:25:03 -0500 )edit

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Asked: 2016-04-15 09:30:34 -0500

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Last updated: Apr 15 '16