Cannot build with GTSAM4.0.2

[LiShuaixin]

Description

Hi, I tried to compiled my own project using GTSAM 4.0.2, but failed. The program is compatible with GTSAM 4.0.0 alpha which is also the version I've been used.

It seems like the problem is caused by the difference of eigen version used in the project. Therefore, to ensure the consistency of version of Eigen, I install Eigen 3.3.4 from the source, and recompile all libs (PCL 1.8 and GTSAM 4.0.2) which are dependent on the Eigen. Below is the screenshot of cmake values when compiled my project and GTSAM 4.0.2.


The confused errors output:

• /usr/local/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: error: no type named ‘type’ in ‘struct Eigen::internal::promote_scalar_arg<double, gtsam::SO<3>, false>’
• XXXX.hpp:137:32: error: no match for ‘operator*’ (operand types are ‘const SO3 {aka const gtsam::SO<3>}’ and ‘const double’)

I also disabled the march=native and recompiled gtsam and my project followed by ##1, while the problem is not be solved yet.

Could you please help me to figure out why this happend?

[varunagrawal]

You should use the Eigen version bundled in the project under 3rdparty.

[LiShuaixin]

@varunagrawal Thanks for your reply. If I use the Eigen version bundled in the GTSAM, it could be different from the one used in my system. If that, which version of Eigen should I used in my project?

[varunagrawal]

Definitely try with the version provided by GTSAM. We test against that so it should work no problem.

[LiShuaixin]

I tried to recompile the GTSAM with its bundled Eigen 3.3.7, but it makes the difference eigen version problem occurs. Then I changed to use Eigen 3.3.7 as the system eigen, and recompiled everything, the problem solved. However, I found the current version of GTSAM may conflict with some bundled lib of ROS. For instance, adding tf_conversion in the catkin package ( in CMakeLists find_package(catkin REQUIRED COMPONENTS tf_conversion) ), causes eigen conflict error /usr/local/include/gtsam/base/Vector.h:73:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen

I think it is caused by the difference of eigen version used in ROS kinetic and the one I compiled GTSAM.

[varunagrawal]

That's exactly the issue. We do provide a cmake flag to use the system (e.g. ROS provided) eigen library so you may want to use that.

[varunagrawal]

@LiShuaixin please reopen this issue if you still have a problem.