{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/221","repository_url":"https://api.github.com/repos/introlab/rtabmap_ros","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/221/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/221/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/221/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/221","id":303379475,"number":221,"title":"Rtabmapviz immediate segfault using known good launch file after complete ros rebuild","user":{"login":"eric-schleicher","id":8261783,"avatar_url":"https://avatars0.githubusercontent.com/u/8261783?v=4","gravatar_id":"","url":"https://api.github.com/users/eric-schleicher","html_url":"https://github.com/eric-schleicher","followers_url":"https://api.github.com/users/eric-schleicher/followers","following_url":"https://api.github.com/users/eric-schleicher/following{/other_user}","gists_url":"https://api.github.com/users/eric-schleicher/gists{/gist_id}","starred_url":"https://api.github.com/users/eric-schleicher/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eric-schleicher/subscriptions","organizations_url":"https://api.github.com/users/eric-schleicher/orgs","repos_url":"https://api.github.com/users/eric-schleicher/repos","events_url":"https://api.github.com/users/eric-schleicher/events{/privacy}","received_events_url":"https://api.github.com/users/eric-schleicher/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-03-08T07:15:49Z","updated_at":"2018-03-08T16:37:12Z","closed_at":null,"author_association":"NONE","body":"TL;DR\r\nrtabmapviz segfaults on start of known good launch file after complete rebuild of rtabmap (pcl 1.7) & rtabmap_ros (1.7) in a clean new workspace.\r\n\r\n\r\n========================================\r\nI've been working to get an update version of rtabmap and rtabmap_ros running.   I originally had a few other packages which forces the use of PCL 1.8 in the workspace, which triggered this process (as it preventing rtabmap_ros from compiling/linking correctly to an rtabmap version compiles with 1.7.x.\r\n\r\nI was successful in getting both rtabmap and rtabmap_ros to compile with 1.8 howevevr was not able to get a known good launch file to work; with both the them crashing: rtabmapviz (immediate seg fault) **and** rtabmap (when messages started to flow).\r\n\r\nI struggled in vain to get it to work, and so made the decision to separate the workspaces so that i could verify that it wasn't pcl 1.8 causing any issues.  I rebuilt rtabmap 0.14.0 with pcl 1.7 (ros kinetic binary) and create a clean new workspace just for rtabmap.  everything compiles successfully.\r\n\r\n##### Fig 1. Launch File\r\n```xml\r\n<launch>\r\n\r\n   <!-- Choose visualization -->\r\n   <arg name=\"rviz\" default=\"false\" />\r\n   <arg name=\"rtabmapviz\" default=\"true\" /> \r\n\r\n   <!-- Corresponding config files -->\r\n   <arg name=\"rtabmapviz_cfg\"          default=\"-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini\" />\r\n   <arg name=\"rviz_cfg\"                default=\"-d $(find rtabmap_ros)/launch/config/rgbd.rviz\" />\r\n\r\n<!-- Which image resolution to process in rtabmap: sd, qhd, hd -->\r\n    <arg name=\"resolution\" default=\"qhd\"/>\r\n    <arg name=\"frame_id\" default=\"kinect2_base\"/>\r\n   \r\n   <!-- Synchronize kinect data before rtabmap node, generating single /rgbd_image topic -->\r\n   <node pkg=\"nodelet\" type=\"nodelet\" name=\"rgbd_sync\" args=\"load rtabmap_ros/rgbd_sync kinect2\">\r\n      <remap from=\"rgb/image\"       to=\"/kinect2/$(arg resolution)/image_color_rect\"/>\r\n      <remap from=\"depth/image\"     to=\"/kinect2/$(arg resolution)/image_depth_rect\"/>\r\n      <remap from=\"rgb/camera_info\" to=\"/kinect2/$(arg resolution)/camera_info\"/>\r\n      <param name=\"approx_sync\"     value=\"false\"/> <!-- exact synchronization -->\r\n   </node> \r\n\r\n   <node pkg=\"rtabmap_ros\" type=\"rtabmap\" name=\"rtabmap\" output=\"screen\" args=\"--delete_db_on_start\">\r\n\r\n      <!-- Remap topics -->\r\n      <param name=\"subscribe_depth\"  type=\"bool\"   value=\"false\"/>\r\n      <param name=\"subscribe_rgbd\"   type=\"bool\"   value=\"true\"/>\r\n      <param name=\"rgbd_cameras\"     type=\"int\"    value=\"1\"/>\r\n      <remap from=\"rgbd_image0\"      to=\"/rgbd_image\"/>\r\n\r\n      <!-- Frames: fixed frame is /map, base frame of lidar and kinect is /kinect2_ir_optical_frame -->\r\n       <!--<param name=\"odom_frame_id\"  value=\"map\"/>-->\r\n       <param name=\"odom_frame_id\" value=\"world\"/>\r\n      <param name=\"frame_id\"       value=\"$(arg frame_id)\"/>\r\n      <param name=\"publish_tf\"     value=\"false\"/>\r\n   \r\n      <!-- Disable loop closure detection -->\r\n      <param name=\"Kp/MaxFeatures\" type=\"string\" value=\"-1\"/>\r\n\r\n       <!-- For laser assembler integration, use rate at which scans are assembled --> <!-- not sure if thie comment still valid -->\r\n      <param name=\"Rtabmap/DetectionRate\"          type=\"string\" value=\"10\"/>\r\n   </node>\r\n\r\n    <!-- Visualisation RTAB-Map -->\r\n    <node if=\"$(arg rtabmapviz)\" pkg=\"rtabmap_ros\" type=\"rtabmapviz\" name=\"rtabmapviz\" args=\"$(arg rtabmapviz_cfg)\" output=\"screen\">\r\n      <param name=\"subscribe_depth\" type=\"bool\" value=\"true\"/>\r\n      <param name=\"subscribe_odom_info\" type=\"bool\" value=\"true\"/>\r\n      <param name=\"approx_sync\" type=\"bool\" value=\"true\"/>\r\n      <param name=\"frame_id\" type=\"string\" value=\"$(arg frame_id)\"/>\r\n    \r\n      <remap from=\"rgb/image\" to=\"/kinect2/$(arg resolution)/image_color_rect\"/>\r\n      <remap from=\"depth/image\" to=\"/kinect2/$(arg resolution)/image_depth_rect\"/>\r\n      <remap from=\"rgb/camera_info\" to=\"/kinect2/$(arg resolution)/camera_info\"/>\r\n    </node>\r\n\r\n</launch>\r\n\r\n```\r\n\r\nWhen using my known good launch file, a difference observation is made.  rather than both crashing (as before) now rtabmapviz crashes as before (immediate segfauly) but rtabmap works just fine.\r\n\r\n##### Fig. 2 Launch console output\r\n```\r\nSUMMARY\r\n========\r\n\r\nPARAMETERS\r\n * /rgbd_sync/approx_sync: False\r\n * /rosdistro: kinetic\r\n * /rosversion: 1.12.12\r\n * /rtabmap/Kp/MaxFeatures: -1\r\n * /rtabmap/Rtabmap/DetectionRate: 10\r\n * /rtabmap/frame_id: kinect2_base\r\n * /rtabmap/odom_frame_id: world\r\n * /rtabmap/publish_tf: False\r\n * /rtabmap/rgbd_cameras: 1\r\n * /rtabmap/subscribe_depth: False\r\n * /rtabmap/subscribe_rgbd: True\r\n * /rtabmapviz/approx_sync: True\r\n * /rtabmapviz/frame_id: kinect2_base\r\n * /rtabmapviz/subscribe_depth: True\r\n * /rtabmapviz/subscribe_odom_info: True\r\n\r\nNODES\r\n  /\r\n    rgbd_sync (nodelet/nodelet)\r\n    rtabmap (rtabmap_ros/rtabmap)\r\n    rtabmapviz (rtabmap_ros/rtabmapviz)\r\n\r\n\r\nROS_MASTER_URI=http://localhost:11311\r\n\r\nprocess[rgbd_sync-1]: started with pid [14500]\r\nprocess[rtabmap-2]: started with pid [14501]\r\nprocess[rtabmapviz-3]: started with pid [14515]\r\n[ INFO] [1520488588.277785707]: Starting node...\r\n[ INFO] [1520488588.316639794]: Initializing nodelet with 8 worker threads.\r\n[ INFO] [1520488588.488411931]: Starting node...\r\n[ INFO] [1520488588.645260805]: rtabmapviz: Using configuration from \"/home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini\"\r\n[ INFO] [1520488588.687453692]: /rtabmap(maps): map_filter_radius          = 0.000000\r\n[ INFO] [1520488588.687493296]: /rtabmap(maps): map_filter_angle           = 30.000000\r\n[ INFO] [1520488588.687510289]: /rtabmap(maps): map_cleanup                = true\r\n[ INFO] [1520488588.687524663]: /rtabmap(maps): map_negative_poses_ignored = false\r\n[ INFO] [1520488588.687539109]: /rtabmap(maps): map_negative_scan_ray_tracing = true\r\n[ INFO] [1520488588.687551885]: /rtabmap(maps): cloud_output_voxelized     = true\r\n[ INFO] [1520488588.687560303]: /rtabmap(maps): cloud_subtract_filtering   = false\r\n[ INFO] [1520488588.687569380]: /rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2\r\n[ INFO] [1520488588.703776654]: rtabmap: frame_id      = kinect2_base\r\n[ INFO] [1520488588.704163108]: rtabmap: odom_frame_id = world\r\n[ INFO] [1520488588.704331983]: rtabmap: map_frame_id  = map\r\n[ INFO] [1520488588.704345756]: rtabmap: tf_delay      = 0.050000\r\n[ INFO] [1520488588.704354824]: rtabmap: tf_tolerance  = 0.100000\r\n[ INFO] [1520488588.704363809]: rtabmap: odom_sensor_sync   = false\r\n[ INFO] [1520488588.867428425]: Setting RTAB-Map parameter \"Kp/MaxFeatures\"=\"-1\"\r\n[ INFO] [1520488589.106200863]: Setting RTAB-Map parameter \"Rtabmap/DetectionRate\"=\"10\"\r\n[rtabmapviz-3] process has died [pid 14515, exit code -11, cmd /home/rosuser/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info __name:=rtabmapviz __log:=/home/rosuser/.ros/log/11ead934-2294-11e8-b93f-34f39a77e43a/rtabmapviz-3.log].\r\nlog file: /home/rosuser/.ros/log/11ead934-2294-11e8-b93f-34f39a77e43a/rtabmapviz-3*.log\r\n[ INFO] [1520488590.093805294]: RTAB-Map detection rate = 10.000000 Hz\r\n[ INFO] [1520488590.100895955]: rtabmap: Deleted database \"/home/rosuser/.ros/rtabmap.db\" (--delete_db_on_start or -d are set).\r\n[ INFO] [1520488590.100954924]: rtabmap: Using database from \"/home/rosuser/.ros/rtabmap.db\" (0 MB).\r\n[ INFO] [1520488590.220571600]: rtabmap: Database version = \"0.14.0\".\r\n[ INFO] [1520488590.276518157]: /rtabmap: queue_size    = 10\r\n[ INFO] [1520488590.276563018]: /rtabmap: rgbd_cameras = 1\r\n[ INFO] [1520488590.276582458]: /rtabmap: approx_sync   = true\r\n[ INFO] [1520488590.276680836]: Setup rgbd callback\r\n[ INFO] [1520488505.923747560]: \r\n/rtabmap subscribed to:\r\n   /rgbd_image\r\n[ INFO] [1520488505.936214816]: rtabmap 0.14.0 started...\r\n[ INFO] [1520488506.263963409]: rtabmap (1): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0830s, Maps update=0.0004s pub=0.0002s (local map=1, WM=1)\r\n[ INFO] [1520488506.375956930]: rtabmap (2): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0489s, Maps update=0.0007s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488506.549480874]: rtabmap (3): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0685s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488506.694907196]: rtabmap (4): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0501s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488506.849390786]: rtabmap (5): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0603s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488507.001315396]: rtabmap (6): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0588s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488507.177319881]: rtabmap (7): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0695s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n[ INFO] [1520488507.314148354]: rtabmap (8): Rate=0.10s, Limit=0.000s, RTAB-Map=0.0539s, Maps update=0.0001s pub=0.0000s (local map=1, WM=1)\r\n....\r\n```\r\nRunning the launch file in this fashion i can create maps, however cannot see them unless i open rviz and add the pointcloud stream in (I have not tried adding any rtabmap specific visualizations)\r\n\r\nInvestigating the rtabmapviz segfault, i serindipitously discovered how to us gdb with rosrun (a miracle!)\r\n by running the following command\r\n\r\n`gdb -ex run --arg bash rosrun rtabmap_ros rtabmapviz -d /home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info __name:=rtabmapviz __log:=/home/rosuser/catkin_ws/src/rtabmap_ros/rviz-error.log`  \r\n\r\n\r\nI was able to get the following backtrace information:\r\n\r\n```\r\nGNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1\r\nCopyright (C) 2016 Free Software Foundation, Inc.\r\nLicense GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>\r\nThis is free software: you are free to change and redistribute it.\r\nThere is NO WARRANTY, to the extent permitted by law.  Type \"show copying\"\r\nand \"show warranty\" for details.\r\nThis GDB was configured as \"x86_64-linux-gnu\".\r\nType \"show configuration\" for configuration details.\r\nFor bug reporting instructions, please see:\r\n<http://www.gnu.org/software/gdb/bugs/>.\r\nFind the GDB manual and other documentation resources online at:\r\n<http://www.gnu.org/software/gdb/documentation/>.\r\nFor help, type \"help\".\r\nType \"apropos word\" to search for commands related to \"word\"...\r\nReading symbols from bash...(no debugging symbols found)...done.\r\nStarting program: /bin/bash rosrun rtabmap_ros rtabmapviz -d /home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/kinect2/qhd/image_color_rect depth/image:=/kinect2/qhd/image_depth_rect rgb/camera_info:=/kinect2/qhd/camera_info __name:=rtabmapviz __log:=/home/rosuser/catkin_ws/src/rtabmap_ros/rviz-error.log\r\nprocess 26651 is executing new program: /home/rosuser/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz\r\n[Thread debugging using libthread_db enabled]\r\nUsing host libthread_db library \"/lib/x86_64-linux-gnu/libthread_db.so.1\".\r\n[New Thread 0x7fffb0531700 (LWP 26682)]\r\n[ INFO] [1520490768.625371646]: Starting node...\r\n[New Thread 0x7fffadb38700 (LWP 26683)]\r\n[New Thread 0x7fffa6b3f700 (LWP 26684)]\r\n[New Thread 0x7fffa633e700 (LWP 26685)]\r\n[New Thread 0x7fffa5b3d700 (LWP 26686)]\r\n[New Thread 0x7fff961cc700 (LWP 26689)]\r\n[New Thread 0x7fff959cb700 (LWP 26690)]\r\n[New Thread 0x7fff94fb8700 (LWP 26693)]\r\n[New Thread 0x7fff87fff700 (LWP 26694)]\r\n[New Thread 0x7fff877fe700 (LWP 26695)]\r\n[New Thread 0x7fff86ffd700 (LWP 26700)]\r\n[New Thread 0x7fff867fc700 (LWP 26713)]\r\n[ INFO] [1520490769.005292080]: rtabmapviz: Using configuration from \"/home/rosuser/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini\"\r\n[Thread 0x7fff961cc700 (LWP 26689) exited]\r\n\r\nThread 1 \"rtabmapviz\" received signal SIGSEGV, Segmentation fault.\r\n0x00007ffff001e657 in rtabmap::Transform::Transform() () from /usr/local/lib/librtabmap_core.so.0.14\r\n(gdb) backtrace\r\n#0  0x00007ffff001e657 in rtabmap::Transform::Transform() () from /usr/local/lib/librtabmap_core.so.0.14\r\n#1  0x00007fffeff9f20d in rtabmap::CameraModel::CameraModel() () from /usr/local/lib/librtabmap_core.so.0.14\r\n#2  0x000000000053064e in rtabmap::StereoCameraModel::StereoCameraModel() ()\r\n#3  0x00007fffef7c75f6 in rtabmap::CalibrationDialog::CalibrationDialog(bool, QString const&, bool, QWidget*) () from /usr/local/lib/librtabmap_gui.so.0.14\r\n#4  0x00007fffef69055a in rtabmap::PreferencesDialog::PreferencesDialog(QWidget*) () from /usr/local/lib/librtabmap_gui.so.0.14\r\n#5  0x0000000000599e60 in PreferencesDialogROS::PreferencesDialogROS(QString const&) ()\r\n#6  0x0000000000523974 in rtabmap_ros::GuiWrapper::GuiWrapper(int&, char**) ()\r\n#7  0x000000000051db19 in main ()\r\n(gdb) \r\n\r\n```\r\nthis is the limit of my diagnostic ability.   buy my suspicion is that perhaps this is something to do with the \r\n configuration?   the rgb_gui.ini I'm using is the default one in the repository.  \r\n\r\nAny help very much appreciated, as I'm in a pinch to get this working again.\r\n"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/371543816","html_url":"https://github.com/introlab/rtabmap_ros/issues/221#issuecomment-371543816","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/221","id":371543816,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars1.githubusercontent.com/u/2319645?v=4","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2018-03-08T16:37:12Z","updated_at":"2018-03-08T16:37:12Z","author_association":"MEMBER","body":"rtabmap/rtabmap_ros won't do seg fault if the launch file has bad parameters, it would assert instead pointing where is the problem. Seg faults happen more often when: \r\n\r\n1. a slightly different library is taken than the one that is built against (when there are multiple versions of the same libraries)\r\n2. rtabmap_ros links on different version of third party libraries, like PCL 1.7 vs PCL 1.8, Opencv 2.4 vs Opencv 3\r\n3. rtabmap and thirdparty libraries have been built against different Eigen versions. With gdb, it would crash in functions using Eigen. Note also if some libraries are built with -march=native and other not, this could generate crashes too\r\n4. not using compatible rtabmap and rtabmap_ros together. Same tag or branch should be used for both.\r\n4. bug in rtabmap/rtabmap_ros\r\n\r\nFrom the gdb log above, it is crashing in the constructor of Transform, maybe related to 1). I tried on my side with rtabmap 0.14.0 + rtabmap_ros (master) and everything works fine (rtabmap, rtabmapviz, rviz). Here is my cmake status of rtabmap with include directories used:\r\n```bash\r\n~/workspace/rtabmap/build $ cmake ..\r\n-- The imported target \"vtkRenderingPythonTkWidgets\" references the file\r\n   \"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so\"\r\nbut this file does not exist.  Possible reasons include:\r\n* The file was deleted, renamed, or moved to another location.\r\n* An install or uninstall procedure did not complete successfully.\r\n* The installation package was faulty and contained\r\n   \"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake\"\r\nbut not all the files it references.\r\n\r\n-- The imported target \"vtk\" references the file\r\n   \"/usr/bin/vtk\"\r\nbut this file does not exist.  Possible reasons include:\r\n* The file was deleted, renamed, or moved to another location.\r\n* An install or uninstall procedure did not complete successfully.\r\n* The installation package was faulty and contained\r\n   \"/usr/lib/cmake/vtk-6.2/VTKTargets.cmake\"\r\nbut not all the files it references.\r\n\r\n-- Could NOT find PCL_APPS (missing:  PCL_APPS_LIBRARY) \r\n-- Found OpenMP\r\n-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1;/opt/ros/kinetic/include/opencv-3.3.1/opencv\r\n-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/x86_64-linux-gnu;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl\r\n-- Found ZLIB: /usr/include\r\n-- Found Freenect: /opt/ros/kinetic/include/libfreenect\r\n-- Found freenect2: /usr/local/include\r\n-- Found OpenNI2: /usr/include/openni2\r\n-- Found DC1394: /usr/include/dc1394\r\n-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse\r\n-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/include/eigen3\r\n-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/include/eigen3;/usr/local/include;/home/mathieu/workspace/libpointmatcher/pointmatcher\r\n-- Found CUDA: /usr/local/cuda (found suitable exact version \"8.0\") \r\n-- Found ZED sdk: /usr/local/zed/include\r\n-- Found CUDA: /usr/local/cuda (found version \"8.0\") \r\n-- Found CUDA: /usr/local/cuda/include\r\n-- Found RealSense: /opt/ros/kinetic/include\r\n-- Found RealSenseSlam: /opt/ros/kinetic/include\r\n-- Found octomap: /opt/ros/kinetic/include\r\n-- Found CPUTSDF: /usr/local/include/cpu_tsdf\r\n-- Found Pthreads\r\n-- --------------------------------------------\r\n-- Info :\r\n--   Version : 0.14.0\r\n--   CMAKE_INSTALL_PREFIX = /home/mathieu/catkin_tmp/devel\r\n--   CMAKE_BUILD_TYPE =     Release\r\n--   CMAKE_INSTALL_LIBDIR = lib\r\n--   BUILD_APP =            ON\r\n--   BUILD_TOOLS =          ON\r\n--   BUILD_EXAMPLES =       ON\r\n--   BUILD_SHARED_LIBS =    ON\r\n--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++11\r\n--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)\r\n--   With Freenect             = YES (License: Apache v2 and/or GPLv2)\r\n--   With OpenNI2              = YES (License: Apache v2)\r\n--   With Freenect2            = YES (License: Apache v2 and/or GPLv2)\r\n--   With dc1394               = YES (License: LGPL)\r\n--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)\r\n--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])\r\n--   With g2o                  = YES (License: BSD)\r\n--   With GTSAM                = YES (License: BSD)\r\n--   With VERTIGO              = YES (License: GPLv3)\r\n--   With cvsba                = NO (cvsba not found)\r\n--   With libpointmatcher      = YES (License: BSD)\r\n--   With ZED                  = YES (With CUDA)\r\n--   With RealSense            = YES (License: Apache-2)\r\n--   With RealSenseSlam        = YES\r\n--   With OCTOMAP              = YES (License: BSD)\r\n--   With CPUTSDF              = YES (License: BSD)\r\n--   With libfovis             = NO (libfovis not found)\r\n--   With libviso2             = NO (libviso2 not found)\r\n--   With dvo_core             = NO (dvo_core not found)\r\n--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)\r\n--   With Qt5                  = YES (License: Open Source or Commercial)\r\n-- --------------------------------------------\r\n-- Configuring done\r\n-- Generating done\r\n-- Build files have been written to: /home/mathieu/workspace/rtabmap_master/build\r\n```"}}
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