OpenCV 3.2.0 build issue with CUDA 8.0 odometry.cpp:41:45: fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory

[halt9]

I'm using 3.2.0 (on contrib as well) and CUDA 8.0 on 64-bit Ubuntu 16.04. My cmake command is:

cmake -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/usr/local \
    -D WITH_CUDA=ON \
    -D ENABLE_FAST_MATH=1 \
    -D CUDA_FAST_MATH=1 \
    -D WITH_CUBLAS=1 \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
    -D BUILD_EXAMPLES=ON ..

Which leads to the error:

/home/username/opencv_contrib/modules/rgbd/src/odometry.cpp:41:45: fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory
compilation terminated.
modules/rgbd/CMakeFiles/opencv_rgbd.dir/build.make:62: recipe for target 'modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/odometry.cpp.o' failed
make[2]: *** [modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/odometry.cpp.o] Error 1
CMakeFiles/Makefile2:18631: recipe for target 'modules/rgbd/CMakeFiles/opencv_rgbd.dir/all' failed
make[1]: *** [modules/rgbd/CMakeFiles/opencv_rgbd.dir/all] Error 2

I've looked for the fixes on similar issues like #6676, #6500, #6592 etc. and they don't work.

I'm willing to switch to 3.1.0 but that has similar build issues. Eigen (libeigen3-dev) is installed, by the way. Cmake outputs: Use Eigen: YES (ver 3.2.1)

System information (version)

• OpenCV => 3.2.0
• Operating System / Platform => 64-bit Ubuntu 16.04
• Compiler => gcc 5.4.0

Output of Cmake:

-- Detected version of GNU GCC: 54 (504)
-- FP16: Feature disabled
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found suitable version "1.2.8", minimum required is "1.2.3")
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.8")
-- Found OpenEXR: /usr/lib/x86_64-linux-gnu/libIlmImf.so
-- Checking for module 'gstreamer-base-1.0'
--   No package 'gstreamer-base-1.0' found
-- Checking for module 'gstreamer-video-1.0'
--   No package 'gstreamer-video-1.0' found
-- Checking for module 'gstreamer-app-1.0'
--   No package 'gstreamer-app-1.0' found
-- Checking for module 'gstreamer-riff-1.0'
--   No package 'gstreamer-riff-1.0' found
-- Checking for module 'gstreamer-pbutils-1.0'
--   No package 'gstreamer-pbutils-1.0' found
-- Looking for linux/videodev.h
-- Looking for linux/videodev.h - not found
-- Looking for linux/videodev2.h
-- Looking for linux/videodev2.h - found
-- Looking for sys/videoio.h
-- Looking for sys/videoio.h - not found
-- Checking for module 'libavresample'
--   No package 'libavresample' found
-- Checking for module 'libgphoto2'
--   No package 'libgphoto2' found
-- found IPP (ICV version): 9.0.1 [9.0.1]
-- at: /home/username/opencv/build/3rdparty/ippicv/ippicv_lnx
-- CUDA detected: 8.0
-- CUDA NVCC target flags: -gencode;arch=compute_20,code=sm_20;-gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_52,code=sm_52;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_61,code=sm_61;-D_FORCE_INLINES
-- Could not find OpenBLAS lib. Turning OpenBLAS_FOUND off
-- Could NOT find Atlas (missing:  Atlas_CLAPACK_INCLUDE_DIR)
-- A library with BLAS API found.
-- A library with LAPACK API found.
-- Found apache ant 1.9.6: /usr/bin/ant
-- Could NOT find Matlab (missing:  MATLAB_MEX_SCRIPT MATLAB_INCLUDE_DIRS MATLAB_ROOT_DIR MATLAB_LIBRARIES MATLAB_LIBRARY_DIRS MATLAB_MEXEXT MATLAB_ARCH MATLAB_BIN)
-- VTK is not found. Please set -DVTK_DIR in CMake to VTK build directory, or to VTK install subdirectory with VTKConfig.cmake file
-- Caffe:   NO
-- Protobuf:   YES
-- Glog:   NO
-- Looking for tiny_dnn.h
-- Looking for tiny_dnn.h - not found
-- Module opencv_dnn_modern disabled because tiny-dnn was not found
-- freetype2:   YES
-- harfbuzz:    YES
-- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available.
-- Failed to find installed gflags CMake configuration, searching for gflags build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components.
-- Failed to find gflags - Could not find gflags include directory, set GFLAGS_INCLUDE_DIR to directory containing gflags/gflags.h
-- Failed to find glog - Could not find glog include directory, set GLOG_INCLUDE_DIR to directory containing glog/logging.h
-- Module opencv_sfm disabled because the following dependencies are not found: Glog/Gflags
-- freetype2:   YES
-- harfbuzz:    YES
-- Checking for modules 'tesseract;lept'
--   No package 'tesseract' found
--   No package 'lept' found
-- Tesseract:   NO
-- Check contents of vgg_generated_48.i ...
-- Check contents of vgg_generated_64.i ...
-- Check contents of vgg_generated_80.i ...
-- Check contents of vgg_generated_120.i ...
-- Check contents of boostdesc_bgm.i ...
-- Check contents of boostdesc_bgm_bi.i ...
-- Check contents of boostdesc_bgm_hd.i ...
-- Check contents of boostdesc_binboost_064.i ...
-- Check contents of boostdesc_binboost_128.i ...
-- Check contents of boostdesc_binboost_256.i ...
-- Check contents of boostdesc_lbgm.i ...
--
-- General configuration for OpenCV 3.2.0-dev =====================================
--   Version control:               3.2.0-313-g502aa1f
--
--   Extra modules:
--     Location (extra):            /home/username/opencv_contrib/modules
--     Version control (extra):     3.2.0-144-g34f910b
--
--   Platform:
--     Timestamp:                   2017-03-16T17:30:57Z
--     Host:                        Linux 4.4.0-64-generic x86_64
--     CMake:                       3.5.1
--     CMake generator:             Unix Makefiles
--     CMake build tool:            /usr/bin/make
--     Configuration:               RELEASE
--
--   C/C++:
--     Built as dynamic libs?:      YES
--     C++ Compiler:                /usr/bin/c++  (ver 5.4.0)
--     C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffast-math -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
--     C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffast-math -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
--     C Compiler:                  /usr/bin/cc
--     C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffast-math -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
--     C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wno-narrowing -Wno-comment -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffast-math -msse -msse2 -mno-avx -msse3 -mno-ssse3 -mno-sse4.1 -mno-sse4.2 -ffunction-sections -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
--     Linker flags (Release):
--     Linker flags (Debug):
--     ccache:                      NO
--     Precompiled headers:         YES
--     Extra dependencies:          /usr/lib/x86_64-linux-gnu/libpng.so /usr/lib/x86_64-linux-gnu/libtiff.so /usr/lib/x86_64-linux-gnu/libjasper.so /usr/lib/x86_64-linux-gnu/libjpeg.so /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so gtk-3 gdk-3 pangocairo-1.0 pango-1.0 atk-1.0 cairo-gobject cairo gdk_pixbuf-2.0 gio-2.0 gobject-2.0 glib-2.0 gthread-2.0 gstbase-0.10 gstreamer-0.10 gmodule-2.0 xml2 gstvideo-0.10 gstapp-0.10 gstriff-0.10 gstpbutils-0.10 dc1394 avcodec avformat avutil swscale freetype harfbuzz /usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so /usr/lib/x86_64-linux-gnu/libpthread.so /usr/lib/x86_64-linux-gnu/libsz.so /usr/lib/x86_64-linux-gnu/libz.so /usr/lib/x86_64-linux-gnu/libdl.so /usr/lib/x86_64-linux-gnu/libm.so dl m pthread rt cudart nppc nppi npps cublas cufft -L/usr/local/cuda/lib64
--     3rdparty dependencies:       libwebp libprotobuf
--
--   OpenCV modules:
--     To be built:                 cudev core cudaarithm flann hdf imgproc ml reg surface_matching video cudabgsegm cudafilters cudaimgproc cudawarping dnn freetype fuzzy imgcodecs photo shape videoio cudacodec highgui objdetect plot ts xobjdetect xphoto bgsegm bioinspired dpm face features2d line_descriptor saliency text calib3d ccalib cudafeatures2d cudalegacy cudaobjdetect cudaoptflow cudastereo datasets rgbd stereo superres tracking videostab xfeatures2d ximgproc aruco optflow phase_unwrapping stitching structured_light java python2
--     Disabled:                    world contrib_world
--     Disabled by dependency:      -
--     Unavailable:                 python3 viz cnn_3dobj cvv dnn_modern matlab sfm
--
--   GUI:
--     QT:                          NO
--     GTK+ 3.x:                    YES (ver 3.18.9)
--     GThread :                    YES (ver 2.48.2)
--     GtkGlExt:                    NO
--     OpenGL support:              NO
--     VTK support:                 NO
--
--   Media I/O:
--     ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.8)
--     JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver )
--     WEBP:                        build (ver encoder: 0x020e)
--     PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.2.54)
--     TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 - 4.0.6)
--     JPEG 2000:                   /usr/lib/x86_64-linux-gnu/libjasper.so (ver 1.900.1)
--     OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2.2.0)
--     GDAL:                        NO
--     GDCM:                        NO
--
--   Video I/O:
--     DC1394 1.x:                  NO
--     DC1394 2.x:                  YES (ver 2.2.4)
--     FFMPEG:                      YES
--       avcodec:                   YES (ver 55.68.100)
--       avformat:                  YES (ver 55.44.100)
--       avutil:                    YES (ver 52.90.101)
--       swscale:                   YES (ver 2.6.100)
--       avresample:                NO
--     GStreamer:
--       base:                      YES (ver 0.10.36)
--       video:                     YES (ver 0.10.36)
--       app:                       YES (ver 0.10.36)
--       riff:                      YES (ver 0.10.36)
--       pbutils:                   YES (ver 0.10.36)
--     OpenNI:                      NO
--     OpenNI PrimeSensor Modules:  NO
--     OpenNI2:                     NO
--     PvAPI:                       NO
--     GigEVisionSDK:               NO
--     Aravis SDK:                  NO
--     UniCap:                      NO
--     UniCap ucil:                 NO
--     V4L/V4L2:                    NO/YES
--     XIMEA:                       NO
--     Xine:                        NO
--     gPhoto2:                     NO
--
--   Parallel framework:            pthreads
--
--   Other third-party libraries:
--     Use IPP:                     9.0.1 [9.0.1]
--          at:                     /home/username/opencv/build/3rdparty/ippicv/ippicv_lnx
--     Use IPP Async:               NO
--     Use VA:                      NO
--     Use Intel VA-API/OpenCL:     NO
--     Use Lapack:                  NO
--     Use Eigen:                   YES (ver 3.2.1)
--     Use Cuda:                    YES (ver 8.0)
--     Use OpenCL:                  YES
--     Use OpenVX:                  NO
--     Use custom HAL:              NO
--
--   NVIDIA CUDA
--     Use CUFFT:                   YES
--     Use CUBLAS:                  YES
--     USE NVCUVID:                 NO
--     NVIDIA GPU arch:             20 30 35 37 50 52 60 61
--     NVIDIA PTX archs:
--     Use fast math:               YES
--
--   OpenCL:                        <Dynamic loading of OpenCL library>
--     Include path:                /home/username/opencv/3rdparty/include/opencl/1.2
--     Use AMDFFT:                  NO
--     Use AMDBLAS:                 NO
--
--   Python 2:
--     Interpreter:                 /usr/bin/python2.7 (ver 2.7.12)
--     Libraries:                   /usr/lib/x86_64-linux-gnu/libpython2.7.so (ver 2.7.12)
--     numpy:                       /usr/lib/python2.7/dist-packages/numpy/core/include (ver 1.11.0)
--     packages path:               lib/python2.7/dist-packages
--
--   Python 3:
--     Interpreter:                 /usr/bin/python3 (ver 3.5.2)
--
--   Python (for build):            /usr/bin/python2.7
--
--   Java:
--     ant:                         /usr/bin/ant (ver 1.9.6)
--     JNI:                         /usr/lib/jvm/default-java/include /usr/lib/jvm/default-java/include/linux /usr/lib/jvm/default-java/include
--     Java wrappers:               YES
--     Java tests:                  YES
--
--   Matlab:                        Matlab not found or implicitly disabled
--
--   Documentation:
--     Doxygen:                     /usr/bin/doxygen (ver 1.8.11)
--
--   Tests and samples:
--     Tests:                       YES
--     Performance tests:           YES
--     C/C++ Examples:              YES
--
--   Install path:                  /usr/local
--
--   cvconfig.h is in:              /home/username/opencv/build
-- -----------------------------------------------------------------
--
-- Configuring done
-- Generating done
-- Build files have been written to: /home/username/opencv/build

[alalek]

There are several workarounds/options:

1. disable rgbd module (cmake -DBUILD_opencv_rgbd=OFF ...)
2. disable eigen support (cmake -DWITH_EIGEN=OFF ...)
3. try to disable CUDA, but probably this will not help.
4. into odometry.cpp add "#undef HAVE_EIGEN" statement after including of precomp.hpp.

BTW, We are able to build OpenCV with Eigen on Ubuntu 16.04 (but Eigen version is 3.2.92)

[halt9]

I have Eigen v3.3 installed, so I have no idea where cmake is pulling that 3.2.1 from...

[alalek]

Try to build from scratch (clean build directory) - CMake caches some things.

[halt9]

That didn't solve my issue, but that's probably on my end.

That being said, -DWITH_EIGEN=OFF did solve my issue and I don't really need Eigen, so this issue is effectively resolved for me.

[arpu]

hi
i use this on fedora 23 maybe it helps on ubuntu too
(custom installed gcc 5.3)

cmake -DENABLE_PRECOMPILED_HEADERS=OFF -D CUDA_NVCC_FLAGS='-std=c++11 -ccbin /opt/gcc-5.3.0/bin/g++ -D_FORCE_INLINES -Xcompiler -D__CORRECT_ISO_CPP11_MATH_H_PROTO -Xcompiler -D__CORRECT_ISO_CPP11_MATH_H_PROTO --expt-relaxed-constexpr' ..

[craigstar]

I met this problem and I solved it easily!
Just read the error message, it says header file unsupported/Eigen/MatrixFunctions not Found!

so with eigen3 we downloaded, (use apt-get, default location is usr/include/eigen3/) there are two folders in eigen3/, 1. Eigen, 2. unsupported. (my Eigen is 3.2.92).

Solution: copy both of these folders to /usr/include. (I assume you have already put Eigen in /usr/include, that's what tutorial usually says. leaving unsupported in usr/include/eigen3 folder is like hiding it, system can not find it.)