compilation errors

[malla srikanth]

ubuntu 12.04
Lenovo g560
installed ros-hydro, openni
following the steps of installation by rtabmap
when i trying to compile using the command
$  make -j4
this is the result:

[  8%] Built target rtabmap_utilite
[  9%] Built target uresourcegenerator
[ 10%] Built target imagesJoiner
[ 11%] Built target extractObject
[ 32%] Built target rtabmap_core
[ 33%] Built target vocabularyComparison
[ 34%] Built target consoleApp
[ 34%] Built target rgbd_camera
[ 34%] Built target bow_mapping
[ 35%] Building CXX object guilib/src/CMakeFiles/rtabmap_gui.dir/CloudViewer.cpp.o
/home/srikanth/catkin_ws/rtabmaplib/guilib/src/CloudViewer.cpp: In member function ‘bool rtabmap::CloudViewer::addOccupancyGridMap(const cv::Mat&, float, float, float, float)’:
/home/srikanth/catkin_ws/rtabmaplib/guilib/src/CloudViewer.cpp:401:46: error: no matching function for call to ‘std::vector<std::vector<Eigen::Matrix<float, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 2, 1> > > >::push_back(std::vector<Eigen::Matrix<float, 2, 1> >&)’
/home/srikanth/catkin_ws/rtabmaplib/guilib/src/CloudViewer.cpp:401:46: note: candidate is:
/usr/include/c++/4.6/bits/stl_vector.h:826:7: note: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = std::vector<Eigen::Matrix<float, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 2, 1> > >, _Alloc = std::allocator<std::vector<Eigen::Matrix<float, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 2, 1> > > >, std::vector<_Tp, _Alloc>::value_type = std::vector<Eigen::Matrix<float, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 2, 1> > >]
/usr/include/c++/4.6/bits/stl_vector.h:826:7: note:   no known conversion for argument 1 from ‘std::vector<Eigen::Matrix<float, 2, 1> >’ to ‘const value_type& {aka const std::vector<Eigen::Matrix<float, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<float, 2, 1> > >&}’
make[2]: *** [guilib/src/CMakeFiles/rtabmap_gui.dir/CloudViewer.cpp.o] Error 1
make[1]: *** [guilib/src/CMakeFiles/rtabmap_gui.dir/all] Error 2
make: *** [all] Error 2


any one who could help is appreciated.

[matlabbe]

Are you using the instructions on the GitHub page here?

The rtabmap library must not be cloned in the catkin workspace (follow directives in the link above). Otherwise, these errors are strange. Which version do you use?

[Guest]

From my experience, this problem is related to PCL.
As it is stated that RTAB-Map works only with the PCL 1.7.*, if you have different version installed, you most probably will fail to make.
If you have multiple versions of PCL installed, modify CMakeList.txt ("/rtabmap/CMakeList.txt"),
line 172 , to specify use exact version of PCL 1.7.*, e.g.

FIND_PACKAGE(PCL 1.7.2 EXACT)

[oklyf]

i have the same problem.have you solved it?

[matlabbe]

Can't reproduce this error on my system (ros hydro, ubuntu 12.04, PCL 1.7.0-2 installed). Is there another version of PCL installed on the system with a version >=1.7.2? The error above is in a part of the code is under:

#if PCL_VERSION_COMPARE(>=, 1, 7, 2)

You could comment all code under this in the function and return false. On Mac OS X, I have 1.7.2 and there is no error though.