Eigen issue

[LiShuaixin]

Hello, thanks for your patience. I cloned the latest develop branch of GTSAM on Ubuntu 16.04 with Boost 1.58 and tried importing it in my project.

Part of CMakeLists.txt looks like this:

find_package(Boost COMPONENTS date_time serialization program_options thread system signals regex filesystem REQUIRED )  
find_package( Eigen3 REQUIRED )  
find_package( GTSAM REQUIRED )

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR} 
${GTSAM_INCLUDE_DIR}
${TBB_INCLUDE_DIRS})

add_library(${PROJECT_NAME}  SHARED
src/factor_graph.cpp)

target_link_libraries(${PROJECT_NAME}
${EIGEN3_LIBS}
${GTSAM_LIBRARY_DIRS}
/usr/lib/x86_64-linux-gnu/libtbb.so)

target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES} -lgtsam -ltbb)

factor_graph.cpp is a source code file where I put all factors I need.

This cmakelist worked smoothly and I got a executable. But when I run it, the system broke down, and throw off segment fault directly before step into the main function in executable.cpp file. Then I commented the line src/factor_graph.cpp in CMakeLists and rebuilt it. The executable could run again.

Did I import gtsam right? please help. thanks in advance!

[jlblancoc]

Could you give it a try to this branch [1]? That's exactly the kind of problems that those changes are trying to avoid... Please, report back whether it worked or not. JL [1] https://github.com/jlblancoc/gtsam/tree/flags_via_modern_cmake

…

On Mon, Jun 10, 2019 at 5:05 AM LiShuaixin ***@***.***> wrote: Hello, thanks for your patience. I cloned the latest develop branch of GTSAM on Ubuntu 16.04 with Boost 1.58 and tried importing it in my project. Part of CMakeLists.txt looks like this: `find_package(Boost COMPONENTS date_time serialization program_options thread system signals regex filesystem REQUIRED ) find_package( Eigen3 REQUIRED ) find_package( GTSAM REQUIRED ) include_directories( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${GTSAM_INCLUDE_DIR} ${TBB_INCLUDE_DIRS} ) add_library(${PROJECT_NAME} SHARED src/factor_graph.cpp) target_link_libraries(${PROJECT_NAME} ${EIGEN3_LIBS} ${GTSAM_LIBRARY_DIRS} /usr/lib/x86_64-linux-gnu/libtbb.so ) target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} -lgtsam -ltbb)` factor_graph.cpp is a source code file where I put all factors I need. It worked smoothly and I got a executable. But when I run it, the system broke down, and throw off segment fault directly before step into the main function in executable.cpp file. Then I commented the line src/factor_graph.cpp in CMakeLists and rebuilt it. The executable could run again. did I import gtsam right? please help. thanks in advance! — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

-- /** * Jose Luis Blanco-Claraco * Universidad de Almería - Departamento de Ingeniería * [Homepage]( https://w3.ual.es/~jlblanco/ ) * [GH profile]( https://github.com/jlblancoc ) */

[LiShuaixin]

Hi @jlblancoc , thanks for your reply! I will give it a try and report what happen.

Actually, I can smoothly run lego-loam which uses gtsam to achieve global optimization. I wonder why it fail in my project while success in lego-loam on the same PC

[LiShuaixin]

Hi, @jlblancoc. I tried rebuilding the branch version, but failed when make check.

Errors output as follow:

99% tests passed, 1 tests failed out of 236

Total Test time (real) =   2.44 sec

The following tests FAILED:
	166 - testDoglegOptimizer (Failed)
Errors while running CTest
CMakeFiles/check.dir/build.make:57: recipe for target 'CMakeFiles/check' failed
make[3]: *** [CMakeFiles/check] Error 8
CMakeFiles/Makefile2:651: recipe for target 'CMakeFiles/check.dir/all' failed
make[2]: *** [CMakeFiles/check.dir/all] Error 2
CMakeFiles/Makefile2:658: recipe for target 'CMakeFiles/check.dir/rule' failed
make[1]: *** [CMakeFiles/check.dir/rule] Error 2
Makefile:221: recipe for target 'check' failed
make: *** [check] Error 2

Then I rebuilt it by 'make -j4' directly, and it worked.

But when I imported it in my project using the same cmakelist file, errors occurred since GTSAM was built against a different version of Eigen:

In file included from /usr/local/include/gtsam/base/Matrix.h:26:0,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Unit3.h:23,
                 from /usr/local/include/gtsam/geometry/Rot3.h:25,
                 from /home/lee/loam_ws/src/Inertial-LOAM/Inertial-LOAM/src/mapOptmization.cpp:36:
/usr/local/include/gtsam/base/Vector.h:72:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen
 static_assert(

[jlblancoc]

Good, it seems that the crash was caused by mixing Eigen versions (probably)... it's better to have a build error than a runtime crash, IMO.

Try rebuilding GTSAM changing its CMake variables such as it uses the system version of Eigen, assuming that your own project does so as well, make install again, and check if it works.

[LiShuaixin]

The screen ouputs shows that the version of Eigen it use is 3.3.7. Is it compatible with GTSAM?
-- Use System Eigen : OFF (Using version: 3.3.7)

[jlblancoc]

run cmake-gui . from your build directory, check "GTSAM_USE_SYSTEM_EIGEN", configure, generate, rebuild from the console as usual.

[LiShuaixin]

I checked the source code and found the reason. Thanks!