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aharmat / mcptam

MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig.
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Build Error on Ubuntu 16.04 #16

Closed ardalanK closed 7 years ago

ardalanK commented 7 years ago

I am trying to build MCPTAM on Ubuntu 16.04 and am getting the following error:

/home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc: In member function ‘int ChainBundle::Compute(bool, int, double)’: /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: error: ‘MatrixXd’ was not declared in this scope SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: note: suggested alternative: In file included from /usr/include/eigen3/Eigen/Core:367:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:45: /usr/include/eigen3/Eigen/src/Core/Matrix.h:428:34: note: ‘Eigen::MatrixXd’ typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:444:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS’ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:451:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS_ALL_SIZES’ EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:29: error: template argument 1 is invalid SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1334:57: error: no matching function for call to ‘g2o::SparseOptimizer::computeMarginals(int&, g2o::OptimizableGraph::VertexContainer&)’ if(mpOptimizer->computeMarginals(spinv, vPointVertices)) ^ In file included from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:51:0: /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const std::vector<std::pair<int, int> >&) bool computeMarginals(SparseBlockMatrix& spinv, const std::vector<std::pair<int, int> >& blockIndices); ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const g2o::OptimizableGraph::Vertex) bool computeMarginals(SparseBlockMatrix& spinv, const Vertex vertex) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const VertexContainer&) bool computeMarginals(SparseBlockMatrix& spinv, const VertexContainer& vertices) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1343:30: error: request for member ‘block’ in ‘spinv’, which is of non-class type ‘int’ vCov22.push_back(spinv.block(i,i)->col(2)(2)); ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc: In member function ‘int ChainBundle::Compute(bool, int, double)’: /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: error: ‘MatrixXd’ was not declared in this scope SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: note: suggested alternative: In file included from /usr/include/eigen3/Eigen/Core:367:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:45: /usr/include/eigen3/Eigen/src/Core/Matrix.h:428:34: note: ‘Eigen::MatrixXd’ typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:444:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS’ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:451:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS_ALL_SIZES’ EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:29: error: template argument 1 is invalid SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1334:57: error: no matching function for call to ‘g2o::SparseOptimizer::computeMarginals(int&, g2o::OptimizableGraph::VertexContainer&)’ if(mpOptimizer->computeMarginals(spinv, vPointVertices)) ^ In file included from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:51:0: /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const std::vector<std::pair<int, int> >&) bool computeMarginals(SparseBlockMatrix& spinv, const std::vector<std::pair<int, int> >& blockIndices); ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const g2o::OptimizableGraph::Vertex) bool computeMarginals(SparseBlockMatrix& spinv, const Vertex vertex) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const VertexContainer&) bool computeMarginals(SparseBlockMatrix& spinv, const VertexContainer& vertices) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1343:30: error: request for member ‘block’ in ‘spinv’, which is of non-class type ‘int’ vCov22.push_back(spinv.block(i,i)->col(2)(2)); ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc: In member function ‘int ChainBundle::Compute(bool, int, double)’: /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: error: ‘MatrixXd’ was not declared in this scope SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:21: note: suggested alternative: In file included from /usr/include/eigen3/Eigen/Core:367:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:45: /usr/include/eigen3/Eigen/src/Core/Matrix.h:428:34: note: ‘Eigen::MatrixXd’ typedef Matrix<Type, Size, Size> Matrix##SizeSuffix##TypeSuffix; \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:444:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS’ EIGEN_MAKE_TYPEDEFS(Type, TypeSuffix, Dynamic, X) \ ^ /usr/include/eigen3/Eigen/src/Core/Matrix.h:451:1: note: in expansion of macro ‘EIGEN_MAKE_TYPEDEFS_ALL_SIZES’ EIGEN_MAKE_TYPEDEFS_ALL_SIZES(double, d) ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1332:29: error: template argument 1 is invalid SparseBlockMatrix spinv; // This will hold the covariance matrices ^ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1334:57: error: no matching function for call to ‘g2o::SparseOptimizer::computeMarginals(int&, g2o::OptimizableGraph::VertexContainer&)’ if(mpOptimizer->computeMarginals(spinv, vPointVertices)) ^ In file included from /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:51:0: /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const std::vector<std::pair<int, int> >&) bool computeMarginals(SparseBlockMatrix& spinv, const std::vector<std::pair<int, int> >& blockIndices); ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:131:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const g2o::OptimizableGraph::Vertex) bool computeMarginals(SparseBlockMatrix& spinv, const Vertex* vertex) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:139:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: candidate: bool g2o::SparseOptimizer::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&, const VertexContainer&) bool computeMarginals(SparseBlockMatrix& spinv, const VertexContainer& vertices) { ^ /opt/ros/kinetic/include/g2o/core/sparse_optimizer.h:154:10: note: no known conversion for argument 1 from ‘int’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1> >&’ /home/ardalan/catkin_ws/src/mcptam/src/ChainBundle.cc:1343:30: error: request for member ‘block’ in ‘spinv’, which is of non-class type ‘int’ vCov22.push_back(spinv.block(i,i)->col(2)(2)); ^ mcptam/CMakeFiles/pose_calibrator.dir/build.make:758: recipe for target 'mcptam/CMakeFiles/pose_calibrator.dir/src/ChainBundle.cc.o' failed make[2]: [mcptam/CMakeFiles/pose_calibrator.dir/src/ChainBundle.cc.o] Error 1 CMakeFiles/Makefile2:442: recipe for target 'mcptam/CMakeFiles/pose_calibrator.dir/all' failed make[1]: [mcptam/CMakeFiles/pose_calibrator.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... mcptam/CMakeFiles/mcptam_server.dir/build.make:590: recipe for target 'mcptam/CMakeFiles/mcptam_server.dir/src/ChainBundle.cc.o' failed make[2]: [mcptam/CMakeFiles/mcptam_server.dir/src/ChainBundle.cc.o] Error 1 CMakeFiles/Makefile2:2206: recipe for target 'mcptam/CMakeFiles/mcptam_server.dir/all' failed make[1]: [mcptam/CMakeFiles/mcptam_server.dir/all] Error 2 mcptam/CMakeFiles/mcptam.dir/build.make:662: recipe for target 'mcptam/CMakeFiles/mcptam.dir/src/ChainBundle.cc.o' failed make[2]: [mcptam/CMakeFiles/mcptam.dir/src/ChainBundle.cc.o] Error 1 CMakeFiles/Makefile2:553: recipe for target 'mcptam/CMakeFiles/mcptam.dir/all' failed make[1]: [mcptam/CMakeFiles/mcptam.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j12 -l12" failed

Any idea how I might be able to fix this?

Thanks.

ardalanK commented 7 years ago

The error seems to be starting in ChainBundle.cc @ line 1332 SparseBlockMatrix spinv;

murrdpirate commented 6 years ago

For the record, this appears to be resolved by changing MatrixXd to MatrixXD on line 1330 in ChainBundle.cc. Took me way too long to notice.