building with Eigen HEAD and -std=c++11 #980

rimmartin · 2014-10-28T22:56:07Z

Hi,

I built pcl with only one line needing a change in https://github.com/PointCloudLibrary/pcl/blob/master/registration/include/pcl/registration/impl/ndt_2d.hpp to satisfy Eigen.
I cloned pcl and required supporting libraries last evening. Used cmake-2.8.12.2 and more particularly -std=c++11 and compiler g++ (GCC) 4.10.0 20140510 (experimental)

# This patch file was generated by NetBeans IDE
# It uses platform neutral UTF-8 encoding and \n newlines.
--- <html>ndt_2d.hpp (<b>Today 10:05:34 AM</b>)</html>
+++ <html><b>Current File</b></html>
@@ -432,7 +432,7 @@
       if (min_eigenvalue < 0)
       {
         double lambda = 1.1 * min_eigenvalue - 1;
-        score.hessian += Eigen::Vector3d (-lambda, -lambda, -lambda).asDiagonal ();
+        score.hessian.diagonal() += Eigen::Matrix<double,3,1> (-lambda, -lambda, -lambda);
         solver.compute (score.hessian, false);
         PCL_DEBUG ("[pcl::NormalDistributionsTransform2D::computeTransformation] adjust hessian: %f: new eigenvalues:%f %f %f\n",
             float (lambda),

The += works with this change. Have not run tests yet but am compiled successfully

taketwo · 2014-10-29T08:58:18Z

Hi, you are welcome to submit a pull request. Please make sure to put a space in score.hessian.diagonal (), as required by the PCL style guide.

rimmartin · 2014-10-29T11:53:46Z

Thank you. I will after I test; I'm yet not familiar with the code that would run this part. Learning mode

fidergo-stephane-gourichon · 2018-10-30T13:20:55Z

Summary: "worksforme"

Observed: works here on several variants of Ubuntu

Current master does not apply the patch discussed here (ref), yet its absence does not cause any problem during compilation here.

Context:

Ubuntu 16.04 x86_64
cmake version 3.5.1
CMAKE_CXX_STANDARD set to 11
libeigen3-dev 3.3~beta1-2
gcc 5.4.0-6ubuntu1~16.04.10

Also, no such problem observed on AMD64 architecture, same parameters as above.

Also, no such problem observed on:

Ubuntu 14.04 x86_64
cmake version 2.8.12.2
libeigen3-dev 3.2.0-8
gcc 6.3.0-18ubuntu2~14.04

Link to master at the time you read this message: https://github.com/PointCloudLibrary/pcl/blob/master/registration/include/pcl/registration/impl/ndt_2d.hpp#L439

Next step

Hypothesis: eigen evolved, removing need for such a patch?
Does this suggest just closing the issue?

rimmartin · 2018-10-30T14:42:47Z

Hi,

I made a small unit test in a second project of mine:

    Eigen::Matrix<double, 3, 3> hessian = Eigen::Matrix<double, 3, 3>::Identity ();
    double lambda = -1;
    hessian += Eigen::Vector3d (-lambda, -lambda, -lambda).asDiagonal ();
    std::cout<<hessian<<std::endl;

result:

2 0 0
0 2 0
0 0 2

It does appear eigen added a += that knows what a diagonal is from the right side and alters the diagonal of the matrix on the left

Thank you, this can be closed

taketwo · 2018-11-05T12:05:38Z

Thanks for digging this up and updating us.

JoonasMelin mentioned this issue Feb 13, 2015

Segmentation fault at PCL when compiling with -std=c++11 felixendres/rgbdslam_v2#8

Closed

taketwo closed this as completed Nov 5, 2018

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building with Eigen HEAD and -std=c++11 #980

building with Eigen HEAD and -std=c++11 #980

rimmartin commented Oct 28, 2014

taketwo commented Oct 29, 2014

rimmartin commented Oct 29, 2014

fidergo-stephane-gourichon commented Oct 30, 2018

rimmartin commented Oct 30, 2018 •

edited

taketwo commented Nov 5, 2018

building with Eigen HEAD and -std=c++11 #980

building with Eigen HEAD and -std=c++11 #980

Comments

rimmartin commented Oct 28, 2014

taketwo commented Oct 29, 2014

rimmartin commented Oct 29, 2014

fidergo-stephane-gourichon commented Oct 30, 2018

Summary: "worksforme"

Observed: works here on several variants of Ubuntu

Next step

rimmartin commented Oct 30, 2018 • edited

taketwo commented Nov 5, 2018

rimmartin commented Oct 30, 2018 •

edited