FATL| RealSense input requested, but the program was compiled without RealSense support. about badslam HOT 5 CLOSED

I don't see how this could happen. Looking at the following file:
https://github.com/ETH3D/badslam/blob/master/applications/badslam/src/badslam/input_realsense.h
It seems that either the RealSense support gets compiled into the binary, or the fatal error message at input_realsense.h:99, but never both at the same time. Thus, I suspect that when you ran badslam with gui, it was a different binary than the one that generated the log quoted above. At least I don't see any other possibility at the moment.

from badslam.

Thanks for your response.

I double-checked, and I can confirm that I am running the same binary file.

from badslam.

Hi,

I muted the following code to force it compile the correct part.

//#ifdef BAD_SLAM_HAVE_REALSENSE
#include <librealsense2/rs.hpp>
//#endif
//#else
//#ifdef BAD_SLAM_HAVE_REALSENSE
//// Dummy version of RealSenseInputThread which replaces the actual version in
//// case the program is compiled without librealsense2. Asserts if any of its
//// functions are called.
//    class RealSenseInputThread {
//    public:
//        inline void Start(RGBDVideo<Vec3u8, u16>* rgbd_video, float* depth_scaling) {
//            (void) rgbd_video;
//            (void) depth_scaling;
//                    LOG(FATAL) << "RealSense input requested, but the program was compiled without RealSense support.";
//        }
//
//        inline void GetNextFrame() {
//                    LOG(FATAL) << "RealSense input requested, but the program was compiled without RealSense support.";
//        }
//    };
//#endif

And I am able to run the realsense without gui.

from badslam.

Thanks for double-checking. I think I found the issue: The define BAD_SLAM_HAVE_REALSENSE is mistakenly added only to the badslam_baselib target, rather than also to the executable target. That's why the input_realsense.h header is compiled differently when included from the latter target.

In applications/badslam/CMakeLists.txt:

    target_compile_options(badslam_baselib
      PRIVATE
        $<$<COMPILE_LANGUAGE:CXX>:-DBAD_SLAM_HAVE_REALSENSE>
    )

While I can't test it right now, I believe that changing the "PRIVATE" to "PUBLIC" here should be the proper fix for this issue.
Sorry for suspecting a wrong cause.

from badslam.

Thanks a lot. I changed private to public, and it's working well now.

from badslam.