make error from g2o

[paulsammut]

I am getting a whole host of make errors stemming from g2o.

/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp: In member function ‘virtual std::map<int, rtabmap::Transform> rtabmap::OptimizerG2O::optimize(int, const std::map<int, rtabmap::Transform>&, const std::multimap<int, rtabmap::Link>&, std::cxx11::list<std::map<int, rtabmap::Transform> >, double, int*)’:
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:200:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(SlamLinearEigenSolver*&)’
blockSolver = new SlamBlockSolver(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:42:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘SlamLinearEigenSolver* {aka g2o::LinearSolverEigen<Eigen::Matrix<double, -1, -1> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:208:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(SlamLinearCholmodSolver&)’
blockSolver = new SlamBlockSolver(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:42:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘SlamLinearCholmodSolver* {aka g2o::LinearSolverCholmod<Eigen::Matrix<double, -1, -1> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:217:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(SlamLinearCSparseSolver&)’
blockSolver = new SlamBlockSolver(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:42:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘SlamLinearCSparseSolver* {aka g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:225:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(SlamLinearPCGSolver&)’
blockSolver = new SlamBlockSolver(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:42:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘SlamLinearPCGSolver* {aka g2o::LinearSolverPCG<Eigen::Matrix<double, -1, -1> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:230:80: error: no matching function for call to ‘g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(SlamBlockSolver&)’
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(blockSolver));
^
In file included from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:45:0:
/usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: candidate: g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmGaussNewton(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: no known conversion for argument 1 from ‘SlamBlockSolver* {aka g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >}’ to ‘std::unique_ptrg2o::Solver’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:234:78: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(SlamBlockSolver&)’
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(blockSolver));
^
In file included from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:46:0:
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmLevenberg(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: no known conversion for argument 1 from ‘SlamBlockSolver* {aka g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >*}’ to ‘std::unique_ptrg2o::Solver’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp: In member function ‘virtual std::map<int, rtabmap::Transform> rtabmap::OptimizerG2O::optimizeBA(int, const std::map<int, rtabmap::Transform>&, const std::multimap<int, rtabmap::Link>&, const std::map<int, rtabmap::CameraModel>&, std::map<int, cv::Point3 >&, const std::map<int, std::map<int, cv::Point3 > >&, std::set)’:
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:699:76: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType&)’
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:42:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:704:79: error: no matching function for call to ‘g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(g2o::BlockSolver_6_3&)’
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(solver_ptr));
^
In file included from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:45:0:
/usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: candidate: g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmGaussNewton(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: no known conversion for argument 1 from ‘g2o::BlockSolver_6_3* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >}’ to ‘std::unique_ptrg2o::Solver’
/home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:709:77: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::BlockSolver_6_3&)’
optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(solver_ptr));
^
In file included from /home/paul/rtabmap/corelib/src/OptimizerG2O.cpp:46:0:
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmLevenberg(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: no known conversion for argument 1 from ‘g2o::BlockSolver_6_3* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >*}’ to ‘std::unique_ptrg2o::Solver'

Offending file:
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1003: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o' failed

I have installed g2o fresh from source and installed its dependencies before building:
libsuitesparse-dev - qtdeclarative5-dev - qt5-qmake - libqglviewer-dev -libeigen3-dev

Cmake finds g2o with the following:
-- Found g2o: /usr/local/include;/usr/include/suitesparse;/usr/include/suitesparse

If I disable g2o from the build it compiles. Do I even need it? Using rtab with stereo cameras from mapping and slam.

Thanks!

[matlabbe]

I suggest to use the c++03 branch of this g2o fork: https://github.com/felixendres/g2o/tree/c++03 or the libg2o built by ROS (e.g., on Ubuntu 16.04: sudo apt-get install ros-kinetic-libg2o).

The errors above are caused by a change in API on August 7 (RainerKuemmerle/g2o@7828003). I cannot find a way to detect this change on compilation (like a g2o version define), to not break backward compatibility with wide released g2o binaries in current and previous ROS versions.

For your last question, no, g2o is not required.

cheers,
Mathieu

[paulsammut]

Using the c++03 of that fork worked, thanks! I had to disable the examples (they complained about c++11 stuff) and the apps from the g2o build to get it to compile. I then recompiled rtabmap with the standard flags and it worked, thanks! (ps. if anyone else has to go through this, i disabled these flags using cmake-gui. Disable the flags G2O_BUILD_EXAMPLES and G2O_BUILD_APPS)

Quick question, how could I "uninstall" the g2o I built from source, and installed with sudo make install, so I can switch to the ROS g2o binaries? Thanks!

[matlabbe]

Unfortunately, g2o doesn't provide a "$ sudo make uninstall" . The best way is to do "sudo make install", then look at the base directories that are installed, remove them manually... like:

$ sudo rm -r /usr/local/lib/libg2o* /usr/local/include/g2o /usr/local/lib/g2o /usr/local/bin/g2o*

[paulsammut]

Thanks @matlabbe , you're the best!!

[enwpoa332]

To piggy-back @paulsammut here, the cli command is

cmake ../ -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_BUILD_APPS=OFF

Then make and sudo make install, and you are ready to work on compiling rtabmap.