make error when installing gtsam

[OceanYing]

Thanks for the inspiring work and release of code. I met a problem when making install gtsam in step: cmake --build build_gtsam --config RelWithDebInfo -j The gtsam branch I used here is the newest one with the correction proposed by sxyu.

The reported error is:

SLAM/NeRF-SLAM/build_gtsam/python/linear.cpp:401:200: required from here /usr/include/c++/7/bits/allocator.h:113:26: error: forming pointer to reference type ‘const Eigen::Matrix<double, -1, -1>&’ typedef _Tp* pointer; ^~~~~~~ /usr/include/c++/7/bits/allocator.h:114:26: error: forming pointer to reference type ‘const Eigen::Matrix<double, -1, -1>&’ typedef const _Tp* const_pointer; ^~~~~~~~~~~~~

which seems the same as reported by pengwangucla.

After checking , I think the error occurs in linear.cpp (line 401) .def(py::init<const gtsam::KeyVector&, const std::vector<const gtsam::Matrix&>&, const std::vector<const gtsam::Vector&>&, double>(), py::arg("js"), py::arg("Gs"), py::arg("gs"), py::arg("f"))

which is highly related to what ToniRV has said in README:

3. Somehow the parser converts this to const std::vector<const gtsam::Matrix&>&, and I need to remove manually in gtsam/build/python/linear.cpp the inner const X& ..., and also add <pybind11/stl.h> because: Did you forget to #include <pybind11/stl.h>?

But I cannot find out the correct way to fix this error. Maybe anyone could help explain const X& ... here. Hope someone could help me out. Thanks a lot!

[OceanYing]

pengwangucla's answer helps me out!

You may change const std::vector<const gtsam::Matrix&>& to const std::vector<gtsam::Matrix>& since use & as pointer is not proper define of std::vector

So I execute the following command and get the error metioned above: cmake --build build_gtsam --config RelWithDebInfo -j

And now, line 401 in SLAM/NeRF-SLAM/build_gtsam/python/linear.cpp should be changed from: .def(py::init<const gtsam::KeyVector&, const std::vector<const gtsam::Matrix&>&, const std::vector<const gtsam::Vector&>&, double>(), py::arg("js"), py::arg("Gs"), py::arg("gs"), py::arg("f")) to .def(py::init<const gtsam::KeyVector&, const std::vector<gtsam::Matrix>&, const std::vector<gtsam::Vector>&, double>(), py::arg("js"), py::arg("Gs"), py::arg("gs"), py::arg("f"))

Then execute again cmake --build build_gtsam --config RelWithDebInfo -j

I found it passed now!

[JayChen1996]

The file "linear.cpp" is auto-generated, what is the root cause?

[ArghyaChatterjee]

After changing the line, here is another error that I am encountering. Can anybody help ?

Traceback (most recent call last):
  File "/home/arghya/NeRF-SLAM/thirdparty/gtsam/wrap/scripts/pybind_wrap.py", line 94, in <module>
    main()
  File "/home/arghya/NeRF-SLAM/thirdparty/gtsam/wrap/scripts/pybind_wrap.py", line 90, in main
    wrapper.wrap(sources, args.out)
  File "/home/arghya/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/pybind_wrapper.py", line 721, in wrap
    cc_content = self.wrap_file(content,
  File "/home/arghya/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/pybind_wrapper.py", line 624, in wrap_file
    module = parser.Module.parseString(content)
  File "/home/arghya/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/interface_parser/module.py", line 56, in parseString
    return Module.rule.parseString(s)[0]
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1947, in parseString
    raise exc
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1937, in parseString
    loc, tokens = self._parse(instring, 0)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1838, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1677, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4052, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1838, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1681, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 3798, in parseImpl
    raise ParseException(instring, loc, self.errmsg, self)
pyparsing.ParseException: Expected stringEnd, found 'n'  (at char 1249), (line:46, col:1)
make[2]: *** [python/CMakeFiles/pybind_wrap_gtsam_unstable.dir/build.make:76: python/gtsam_unstable.cpp] Error 1
make[1]: *** [CMakeFiles/Makefile2:32601: python/CMakeFiles/pybind_wrap_gtsam_unstable.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

[yusuf-wadi]

Same issue

Traceback (most recent call last):
  File "/home/yusuf/nerf/NeRF-SLAM/thirdparty/gtsam/wrap/scripts/pybind_wrap.py", line 94, in <module>
    main()
  File "/home/yusuf/nerf/NeRF-SLAM/thirdparty/gtsam/wrap/scripts/pybind_wrap.py", line 90, in main
    wrapper.wrap(sources, args.out)
  File "/home/yusuf/nerf/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/pybind_wrapper.py", line 721, in wrap
    cc_content = self.wrap_file(content,
  File "/home/yusuf/nerf/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/pybind_wrapper.py", line 624, in wrap_file
    module = parser.Module.parseString(content)
  File "/home/yusuf/nerf/NeRF-SLAM/thirdparty/gtsam/wrap/gtwrap/interface_parser/module.py", line 56, in parseString
    return Module.rule.parseString(s)[0]
  File "/home/yusuf/miniconda3/envs/slam/lib/python3.10/site-packages/pyparsing/core.py", line 1141, in parse_string
    raise exc.with_traceback(None)
pyparsing.exceptions.ParseException: Expected string_end, found 'namespace'  (at char 1249), (line:46, col:1)
gmake[2]: *** [python/CMakeFiles/pybind_wrap_gtsam_unstable.dir/build.make:76: python/gtsam_unstable.cpp] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:32340: python/CMakeFiles/pybind_wrap_gtsam_unstable.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....

[yusuf-wadi]

this ^^ worked for me, an updated gtsam. delete the current gtsam dir in thirdparty and clone the new instead.