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Install SiftGPU for RGBDSLAM

asked 2012-08-08 07:20:48 -0600

HITE gravatar image

updated 2014-01-28 17:13:17 -0600

ngrennan gravatar image

After working to fix all of the fuerte bugs in RGBDSLAM, I finally got it to the point that it will launch RGBDSLAM and it shows Kinect input at the bottom. However, when I hit the space bar to run, the terminal outputs the following:

//[FATAL] [1344446005.784101274]: Can't run SiftGPU //[FATAL] [1344446006.241891559]: SiftGPU cannot be used. Detection of keypoints failed

I have seen that SiftGPU can be disabled in the CMakeLists.txt, but I am not positive on all the steps needed to completely disable it and use something else. When I comment it out of the file, it produces an image of the first frame and its features, but after that it gives an error saying that it cannot match the features in the next frame. Is there a way to make it run? How do I either use SiftGPU or disable it?

Thank you.

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If rgbdslam compiles, you don't need to change CMakeLists.txt.

Felix Endres gravatar image Felix Endres  ( 2012-09-06 05:46:15 -0600 )edit

How to disable SiftGPU in CMakeLists.txt? I am stuck at final step of installing rgbdslam_v2 with this error

/usr/bin/ld: cannot find -lsiftgpu
Dox gravatar image Dox  ( 2018-03-30 09:00:22 -0600 )edit

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answered 2012-09-06 05:45:32 -0600

My suggestion is to set the parameter "matcher_type" to "FLANN". If you have no OpenGL support, you should also rather use SURF or ORB as Sudhan says.

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@Felix Endres i have found the file named parameter_server.cpp and rgbdslam_sample_config.launch . both of them can set param feature detector and extractor . i am confused , what 's the difference?

longzhixi123 gravatar image longzhixi123  ( 2013-05-15 16:18:38 -0600 )edit

a "cpp" file is program code that needs to be compiled and can then be executed. A "launch" file defines what programs to start and with what parameterization. Use the launch file.

Felix Endres gravatar image Felix Endres  ( 2013-05-16 09:07:44 -0600 )edit

@Felix Endres thanks a lot. and what is the function about gicp 。cna you provide some additional information to study how to use gicp ? thanks

longzhixi123 gravatar image longzhixi123  ( 2013-05-16 17:14:32 -0600 )edit

I am not sure I understand. You could google for "generalized icp".

Felix Endres gravatar image Felix Endres  ( 2013-05-16 22:20:41 -0600 )edit

answered 2012-09-05 02:56:30 -0600

Sudhan gravatar image

Edit the launch file 'rgbdslam_sample_config.launch'. In line 46,47...., change the feature detector and extractor as SURF or ORB. If it is ORB, you should use only BRUTEFORCE as 'matcher_type'. But FLANN would be better for SURF. To continue the process do,

$ roslaunch rgbdslam rgbdslam_sample_config.launch

This is the way to disable SIFTGPU.

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You don't necessarily need to use that config file. You can use any of the configuration files and just change or copy the mentioned parameters.

Felix Endres gravatar image Felix Endres  ( 2012-09-06 05:47:11 -0600 )edit

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Asked: 2012-08-08 07:20:48 -0600

Seen: 1,559 times

Last updated: Sep 06 '12