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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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Can't build PCL and Eigen Issue #79

Closed MontyTHall closed 6 years ago

MontyTHall commented 6 years ago

I'm running Ubuntu 14 and ROS indigo. When I catkin_make, I get the following build error:

/usr/include/pcl-1.7/pcl/impl/point_types.hpp: In member function ‘Eigen::Map<Eigen::Array<float, 4, 1>, 16> pcl::_PointSurfel::getArray4fMap()’: /usr/include/pcl-1.7/pcl/impl/point_types.hpp:1428:5: error: could not convert ‘Eigen::PlainObjectBase::MapAligned(Eigen::PlainObjectBase::Scalar*) [with Derived = Eigen::Array<float, 4, 1>; Eigen::PlainObjectBase::AlignedMapType = Eigen::Map<Eigen::Array<float, 4, 1>, 32, Eigen::Stride<0, 0> >; Eigen::PlainObjectBase::Scalar = float]()’ from ‘Eigen::PlainObjectBase<Eigen::Array<float, 4, 1> >::AlignedMapType {aka Eigen::Map<Eigen::Array<float, 4, 1>, 32, Eigen::Stride<0, 0> >}’ to ‘Eigen::Map<Eigen::Array<float, 4, 1>, 16>’ PCL_ADD_POINT4D; // This adds the members x,y,z which can also be accessed using the point (which is float[4]) ^

Looks like PCL 1.7 is being used. Also, I believe the Eigen being referenced is 3.2.0. Any help appreciated.

Regards,

M

MontyTHall commented 6 years ago

Using PCL 1.8, kinetic, and eigen 3.2.92 in docker. All is well.