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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.


Originally posted by HITE on ROS Answers with karma: 92 on 2012-08-08

Post score: 1


Original comments

Comment by Felix Endres on 2012-09-06:
If rgbdslam compiles, you don't need to change CMakeLists.txt.

Comment by Dox on 2018-03-30:
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
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1 Answer 1

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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.


Originally posted by Felix Endres with karma: 6468 on 2012-09-06

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by longzhixi123 on 2013-05-15:
@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?

Comment by Felix Endres on 2013-05-16:
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.

Comment by longzhixi123 on 2013-05-16:
@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

Comment by Felix Endres on 2013-05-16:
I am not sure I understand. You could google for "generalized icp".

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