rtabmap error while runnning make

I have tried installing Rtab-Map as per the instructions.

I got the following error as below:


spider@spider:~/rtabmap/build$ cmake ..
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP
-- Found OpenCV: /usr/local/include/opencv;/usr/local/include
-- Found PCL: /usr/include/pcl-1.7;/usr/local/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-5.8
-- Found ZLIB: /usr/include
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Old g2o version detected with c++03 interface (config file: /opt/ros/indigo/include/g2o/config.h).
-- Found g2o: /opt/ros/indigo/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/eigen3
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found cvsba: /usr/local/include
-- Found RealSense: /opt/ros/indigo/include
-- Found octomap 1.6.9: /opt/ros/indigo/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.18.3
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -Wno-deprecated -fopenmp -std=c++11
--   PCL_DEFINITIONS = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)
--   With external SQLite3     = YES (License: Public Domain)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = YES (License: GPLv2)
--  *With libpointmatcher      = NO (libpointmatcher not found)
--   With loam_velodyne        = NO (loam_velodyne not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)
--   With RealSense2           = NO (librealsense2 not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt4                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/spider/rtabmap/build
spider@spider:~/rtabmap/build$
spider@spider:~/rtabmap/build$ clear

spider@spider:~/rtabmap/build$ make
Scanning dependencies of target rtabmap_utilite
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
[  5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UVariant.cpp.o
Linking CXX shared library ../../../bin/librtabmap_utilite.so
[  5%] Built target rtabmap_utilite
Scanning dependencies of target res_tool
[  6%] Building CXX object utilite/resource_generator/CMakeFiles/res_tool.dir/main.cpp.o
Linking CXX executable ../../../bin/rtabmap-res_tool
[  6%] Built target res_tool
[  6%] [Creating resources]
 Using namespace=rtabmap
 Using target directory=/home/spider/rtabmap/build/corelib/src
Input file "/home/spider/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 5664 bytes
Output file "/home/spider/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 11555 bytes
Scanning dependencies of target rtabmap_core
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNICV.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRGBDImages.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoDC1394.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoFlyCapture2.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoImages.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoTara.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraVideo.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o
[ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o
[ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/LaserScan.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o
[ 27%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerTORO.cpp.o
[ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:30:0,
                 from /home/spider/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:57:
/opt/ros/indigo/include/g2o/core/base_vertex.h:62:67: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
     typedef Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                                                   ^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:31:0,
                 from /home/spider/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:57:
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:59:75: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
       typedef Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                                           ^
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:60:75: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
       typedef Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                                           ^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:32:0,
                 from /home/spider/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:57:
/opt/ros/indigo/include/g2o/core/base_multi_edge.h:69:47: warning: ‘Eigen::AlignedBit’ is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
       typedef Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                               ^
In file included from /usr/local/include/eigen3/Eigen/Core:366:0,
                 from /home/spider/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:34,
                 from /home/spider/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
                 from /home/spider/rtabmap/corelib/src/../include/rtabmap/core/Optimizer.h:35,
                 from /home/spider/rtabmap/corelib/src/../include/rtabmap/core/optimizer/OptimizerG2O.h:33,
                 from /home/spider/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:37:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>]’:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:42:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]’
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782:93:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714:65:   required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/local/include/eigen3/Eigen/src/Core/Matrix.h:225:30:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/local/include/eigen3/Eigen/src/Core/PermutationMatrix.h:365:17:   required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:66:18:   required from ‘void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 6, 6>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:193:9:   required from ‘void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 6, 6>]’
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:98:39:   required from ‘bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 6, 6>]’
/home/spider/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:2048:1:   required from here
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
                                        ^
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:816:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
   EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
   ^
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:834:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
   EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
   ^
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2



Can someone please help me sort the error.

Thanks and regards,
lestat.bhaskar

[matlabbe]

Hi,

You seem to have an Eigen installed in /usr/local/include that is causing the problem. When building, this version is used instead of the system-installed one (in /usr/include). The testing machine is also on Indigo and doesn't have this problem: https://travis-ci.org/introlab/rtabmap_ros

It would be easier to build if there is only one Eigen version installed (in this case the system one).

cheers,
Mathieu
 

Hello Mathieu,

Your solution solved the problem.
A very thank you for your help and sharing your amazing work with all of us.

A follow up question if you can answer, I am working on a project where my quad copter is equipped with 5 sets of stereo cameras, I wanted to ask if it is possible to run them all at the same time using RTAB-Map ?

Thanks for the quick reply.

Regards,
lestat.bhaskar

[matlabbe]

Hi lestat.bhaskar,

Currently, there are callbacks up to 4 RGB-D cameras, though it would not be too hard to implement a 5 cameras callback (e.g., adding CommonDataSubscriberRGBD5.cpp). Multiple stereo cameras are supported only when they are converted to RGB-D cameras, i.e., compute disparity image, convert it to depth prior to rtabmap. stereo_image_proc and disparity_to_depth nodelets can be used to generate the depth image. They must have all the same resolution. The downside of having to convert to RGB-D image is that computing dense disparity for all 5 stereo cameras can be expensive in computation, in particular when done at camera framerate. Some refactoring on how calibrations are saved in database would be required to support directly stereo images. Improvements could be also done to be able to use cv::solvePnPRansac() with more than one camera, to get more accurate transformation/odometry (this also applies to multiple RGB-D cameras case).

When you have the left image as the RGB image, the generated depth image and the camera_info from left image, you can look at the demo_two_kinects.launch for an example with two cameras (use approx_sync to false in rgbd_sync for stereo cameras). Careful TF (extrinsic between cameras) is required.

cheers,
Mathieu