Compilitaion
Posted by senia on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Compilitaion-tp955.html
Hi,
I'm trying to compile Rtab-Map on my laptop(Ubuntu 14.04), yet I get compilation error.
Cmake output:
- Found OpenCV: /usr/local/include/opencv;/usr/local/include
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-5.8
-- Found ZLIB: /usr/include
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found g2o: /usr/local/include;/usr/include/suitesparse
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include
-- Found cvsba: /usr/local/include
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- BUILD_SHARED_LIBS = ON
-- With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES
-- With Freenect = YES
-- With OpenNI2 = YES
-- With Freenect2 = NO (libfreenect2 not found)
-- With dc1394 = YES
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With g2o = YES
-- With GTSAM = YES
-- With cvsba = YES
-- With Qt = YES (version 4)
-- --------------------------------------------
-- Configuring done
-- Generating done
make process output:
[ 7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
In file included from /usr/local/include/gtsam/geometry/Pose2.h:24:0,
from /home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/Graph.cpp:72:
/usr/local/include/gtsam/base/Matrix.h: In function ‘void gtsam::inplace_QR(MATRIX&)’:
/usr/local/include/gtsam/base/Matrix.h:316:71: error: expected ‘;’ before ‘::’ token
Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
^
In file included from /usr/local/include/gtsam/geometry/Pose2.h:26:0,
from /home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/Graph.cpp:72:
/usr/local/include/gtsam/geometry/Point2.h: In static member function ‘static gtsam::Vector gtsam::Point2::Logmap(const gtsam::Point2&)’:
/usr/local/include/gtsam/geometry/Point2.h:175:86: error: could not convert ‘Eigen::DenseBase<Derived>::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseBase<Derived>::Scalar = double]((* &(& dp)->gtsam::Point2::x())).Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, 1> >((* &(& dp)->gtsam::Point2::y()))’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}’
static inline Vector Logmap(const Point2& dp) { return (Vector(2) << dp.x(), dp.y()); }
^
..
..
..
In file included from /home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/vertigo/gtsam/betweenFactorSwitchable.h:18:0,
from /home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/Graph.cpp:87:
/home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/vertigo/gtsam/switchVariableSigmoid.h: In member function ‘gtsam::Vector vertigo::SwitchVariableSigmoid::localCoordinates(const vertigo::SwitchVariableSigmoid&) const’:
/home/user/Desktop/rtab-master-14.12.15/rtabmap/corelib/src/vertigo/gtsam/switchVariableSigmoid.h:62:129: warning: control reaches end of non-void function [-Wreturn-type]
inline gtsam::Vector localCoordinates(const SwitchVariableSigmoid& t2) const { return gtsam::Vector1(t2.value() - value()); }
^
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2
My boost version is 1.5.4
-gtsam 3.2.1
-eigen 3.2
Has anybody know how can I fix it?
Thanks.