build failling on ubunutu 16.04 about multicol-slam

[urbste]

Hi,

I can't reproduce your error. Just compiled MultiCol-SLAM in a virtual box with a clean Ubuntu 16.04 installation and the build instructions from the Readme.md and it works fine.
Compiler is gcc (Ubuntu 5.4.0-6ubuntu1-16.04.02) 5.4.0 20160609.

Cheers, Steffen

[poine]

Hi Steffen

I agree that it is a weird error. I'm kind of a noob in C++, but from what I understand std::unordered_map should be available with -std=c++11
Anyway, I manage to get past this error by replacing every std::unordered_map with std::tr1::unordered_map in your code.

I then stumbled on another error with eigen/g2o
[...]
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [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/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; StorageIndex = int]’
/home/poine/work/multicol/MultiCol-SLAM/ThirdParty/g2o/g2o/solvers/linear_solver_eigen.h:68:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/poine/work/multicol/MultiCol-SLAM/ThirdParty/g2o/g2o/solvers/linear_solver_eigen.h:195:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/poine/work/multicol/MultiCol-SLAM/ThirdParty/g2o/g2o/solvers/linear_solver_eigen.h:100:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double, double) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/poine/work/multicol/MultiCol-SLAM/src/cOptimizerLoopStuff.cpp:515:1: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: 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);

From what I understand, it would be an int/vs long int issue in permutation matrices index ?

I managed to get the code to build by commenting line 69 in linear_solver_eigen.h
//m_Pinv = permutation;
but it's obviously not a great idea (althoug this code might not be ran, as a trace i put just after it never shows).

Anyway, I am now able to run your code on the example you provided. I see output in the console

Start processing sequence ...
Images in the sequence: 734

---Feature Extraction (35ms) - ImageId: 0---
init done
---Feature Extraction (29ms) - ImageId: 1---
---matching time (34)--- nr:4297
---Feature Extraction (23ms) - ImageId: 2---
---matching time (34)--- nr:3871
---Feature Extraction (24ms) - ImageId: 3---
---matching time (37)--- nr:3723
---Feature Extraction (22ms) - ImageId: 4---
---matching time (37)--- nr:3628
---Feature Extraction (21ms) - ImageId: 5---
---matching time (36)--- nr:3591
---Feature Extraction (25ms) - ImageId: 6---
---matching time (34)--- nr:3484
---Feature Extraction (25ms) - ImageId: 7---
---matching time (35)--- nr:3428
---Feature Extraction (24ms) - ImageId: 8---
---matching time (38)--- nr:3357
---Feature Extraction (23ms) - ImageId: 9---
---matching time (41)--- nr:3327
---Feature Extraction (25ms) - ImageId: 10---
---matching time (36)--- nr:3330
---Feature Extraction (24ms) - ImageId: 11---
---matching time (35)--- nr:3195
---Feature Extraction (24ms) - ImageId: 12---
---matching time (35)--- nr:3204
---Feature Extraction (22ms) - ImageId: 13---
---matching time (35)--- nr:3193
---Feature Extraction (25ms) - ImageId: 14---
---matching time (35)--- nr:3152
---Feature Extraction (24ms) - ImageId: 15---
---matching time (34)--- nr:3162
---Feature Extraction (24ms) - ImageId: 16---
---matching time (34)--- nr:3103
---Feature Extraction (21ms) - ImageId: 17---
---Feature Extraction (21ms) - ImageId: 18---
---Feature Extraction (21ms) - ImageId: 19---
Finished Map Point Creation (340)_
---Feature Extraction (22ms) - ImageId: 20---

I also see feature being drawn on the images, but nothing drawn in the map. I will try building in a fresh VM as you suggest. Are you using a 64bit version?

Best Regards

Poine

[urbste]

If you don't see anything just click on the "Follow Camera" button twice.
I haven't tuned the OpenGL settings. I will do that and commit the adjusted values.
And yes you will have to use a 64bit OS .

[poine]

Thanks for the tips. It now displays correctly.
Last night i tried to build your code on a fresh Ubuntu 16.04 in a VM and
it worked well. I still have to figure why it failed on my native install.
There are differences as it is using a binary package for opencv3 provided
by ROS and the native Eigen.

Thanks again

Poine

On Oct 10, 2016 8:30 AM, "Steffen Urban" [email protected] wrote:

If you don't see anything just click on the "Follow Camera" button twice.
I haven't tuned the OpenGL settings. I will do that and commit the
adjusted values.

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[urbste]

Great!
Yeah maybe those packages provided by the external third party libraries cause those issues.

[poine]

I'll figure it and let you know. My next goal is to run your code in a
gazebo simulation. I'll keep you posted about it.

On Oct 10, 2016 8:43 AM, "Steffen Urban" [email protected] wrote:

Great!
Yeah maybe those packages provided by the external third party libraries
cause those issues.

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