Closed lokeshluckybisht closed 3 years ago
jlblancoc
commented
3 years ago From this:
Build dependencies MRPT >= 1.9.9
From your last comment:
libmrpt-dev is already the newest version (1:1.3.2-1).
You have a too old version :-)
Either build from sources, or the easier way, follow these instructions to install it from the PPA, then apt will "see" the new version.
Cheers.
lokeshluckybisht
commented
3 years ago From this:
Build dependencies MRPT >= 1.9.9
From your last comment:
libmrpt-dev is already the newest version (1:1.3.2-1).
You have a too old version :-) Either build from sources, or the easier way, follow these instructions to install it from the PPA, then
aptwill "see" the new version.Cheers.
Thank you,
After I commented last comment, i tried building mrpt from source because even with PPA , it is showing 1.3.2 only. So the issue with mrpt is solved now.
The major issue which I had after that was building mola. I will explain with the steps.
I followed the install instructions given here and also this and this which basically points out to build using a different build directory for GTSAM and using the EIGEN prefix sor GTSAM build repectively.
gtsam::IMUHelper imu
"Disabled temporarily; see comment for gtsam::IMUHelper imu");
^
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp: In member function ‘mola::id_t mola::ASLAM_gtsam::find_closest_KF_in_time(const time_point&) const’:
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:563:74: note: #pragma message: TODO: Rewrite using integers as map keys with desired tolerance
MRPT_TODO("Rewrite using integers as map keys with desired tolerance");
^
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp: In member function ‘mola::id_t mola::ASLAM_gtsam::internal_addKeyFrame_Regular(const mola::BackEndBase::ProposeKF_Input&)’:
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:602:69: note: #pragma message: TODO: refactor this to avoid code duplication -> template?
MRPT_TODO("refactor this to avoid code duplication -> template?");
^
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:704:75: note: #pragma message: TODO: Disabled temporarily; see comment for gtsam::IMUHelper imu
"Disabled temporarily; see comment for gtsam::IMUHelper imu");
^
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp: In member function ‘void mola::ASLAM_gtsam::doUpdateDisplay(std::shared_ptrgtsam::IMUHelper imu
"imu"); ^ /home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:1233:69: note: #pragma message: TODO: Use dynamically-created instead ofimu MRPT_TODO("Use dynamically-created instead ofimu"); ^ /home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:1236:27: note: #pragma message: TODO: Disabled temporarily; see comment forgtsam::IMUHelper imu "imu");
^
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp: In member function ‘virtual mola::id_t mola::ASLAM_gtsam::temp_createStereoCamera(const mrpt::img::TCamera&, const mrpt::img::TCamera&, double)’:
/home/driverless/mola/modules/mola-slam-gtsam/src/ASLAM_gtsam.cpp:1275:66: note: #pragma message: TODO: Add into the world-model and get a real entity id
MRPT_TODO("Add into the world-model and get a real entity id");
^
^[[Amodules/mola-slam-gtsam/CMakeFiles/mola-slam-gtsam.dir/build.make:62: recipe for target 'modules/mola-slam-gtsam/CMakeFiles/mola-slam-gtsam.dir/src/ASLAM_gtsam.cpp.o' failed
make[2]: [modules/mola-slam-gtsam/CMakeFiles/mola-slam-gtsam.dir/src/ASLAM_gtsam.cpp.o] Error 1
CMakeFiles/Makefile2:1662: recipe for target 'modules/mola-slam-gtsam/CMakeFiles/mola-slam-gtsam.dir/all' failed
make[1]: [modules/mola-slam-gtsam/CMakeFiles/mola-slam-gtsam.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2So to solve this, I used the same GTSAM_DIR reference as shared here and the error went away. But after completing the build when I ran the test. 1 of the 5 tests failed.
5/5 Test #5: SLAM_GTSAM_basic_graph ...........***Not Run 0.00 sec
80% tests passed, 1 tests failed out of 5
Total Test time (real) = 43.18 sec
The following tests FAILED: 5 - SLAM_GTSAM_basic_graph (Not Run) Errors while running CTest Makefile:94: recipe for target 'test' failed make: *** [test] Error
I check the test log and it says :+1:
jlblancoc
commented
3 years ago What version of gtsam are you using?
lokeshluckybisht
commented
3 years ago What version of gtsam are you using?
4.0.2
lokeshluckybisht
commented
3 years ago It appears to me that while building, I am unable to build he test-gtsam-basic-graph executable file. Because, I used the prefix for the GTSAM_DIR reference which might cause the issue. Any work around for this?
jlblancoc
commented
3 years ago If not installing GTSAM from the PPA, GTSAM_DIR should be set to the build directory where GTSAM has been compiled.
PS: It's not recommended to run sudo make install after bulilding gtsam... or anything else, by the way ;-)
On running the command - cmake -DMOLA_BUILD_MARCH_NATIVE=OFF ..
I am getting this error ( MRPT dependencies are already installed)...
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/ -- GTSAM found version: 4.0.2 -- Could NOT find LATEX (missing: LATEX_COMPILER) OpenCL disabled, not looking for it -- Found Boost: /usr/include (found version "1.58.0") found components: thread filesystem system program_options date_time chrono atomic CMake Warning (dev) at /home/driverless/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.16/Modules/FindBoost.cmake:1287 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /home/driverless/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES) externals/mp2p_icp/3rdparty/libpointmatcher/CMakeLists.txt:120 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Boost: /usr/include (found version "1.58.0") found components: thread filesystem system program_options date_time chrono chrono atomic -- OpenMP found, parallel computer enabled -- using built-in yaml-cpp, version 0.3.0 -- text-based configuration enabled -- API Documentation (doxygen): disabled CMake Error at externals/mp2p_icp/CMakeLists.txt:19 (find_package): By not providing "Findmrpt-tfest.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "mrpt-tfest", but CMake did not find one.
Could not find a package configuration file provided by "mrpt-tfest" with any of the following names:
mrpt-tfestConfig.cmake mrpt-tfest-config.cmake
Add the installation prefix of "mrpt-tfest" to CMAKE_PREFIX_PATH or set "mrpt-tfest_DIR" to a directory containing one of the above files. If "mrpt-tfest" provides a separate development package or SDK, be sure it has been installed.
-- Configuring incomplete, errors occurred! See also "/home/driverless/mola/build/CMakeFiles/CMakeOutput.log". See also "/home/driverless/mola/build/CMakeFiles/CMakeError.log".
Please help on how to resolve this.