Hello
I am trying to get my kinect working with rtabmap to show the mapping in real time but when I'm trying to install rtabmap according to the instructions given [here](
https://github.com/introlab/rtabmap/wiki/Installation) , I am getting bunch of error while running `make -j4`
here is the list of error
d4sys@d4sys:~/rtabmap/build$ make
[ 4%] Built target rtabmap_utilite
[ 4%] Built target res_tool
[ 4%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:30:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_vertex.h:62:67: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:31:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:59:75: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:60:75: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:32:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_multi_edge.h:69:47: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /usr/local/include/eigen3/Eigen/Core:366:0,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:34,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Optimizer.h:35,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/OptimizerG2O.h:33,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:36:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>]:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:42: required from void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782:93: required from void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]
/usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714:65: required from Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]
/usr/local/include/eigen3/Eigen/src/Core/Matrix.h:225:30: required from Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]
/usr/local/include/eigen3/Eigen/src/Core/PermutationMatrix.h:365:17: required from Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 6, 6>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 6, 6>]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:98:39: required from bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 6, 6>]
/home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:1456:1: required from here
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:816:3: note: in expansion of macro EIGEN_STATIC_ASSERT
EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
^
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:834:3: note: in expansion of macro EIGEN_CHECK_BINARY_COMPATIBILIY
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
^
^Cmake[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o] Interrupt
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Interrupt
make: *** [all] Interrupt
d4sys@d4sys:~/rtabmap/build$ make -j4
[ 4%] Built target rtabmap_utilite
[ 4%] Built target res_tool
[ 5%] Built target imagesJoiner
[ 5%] Built target extractObject
[ 5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o
[ 6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryMono.cpp.o
[ 6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryF2F.cpp.o
[ 6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryFovis.cpp.o
[ 7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryViso2.cpp.o
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:30:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_vertex.h:62:67: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:31:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:59:75: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
/opt/ros/indigo/include/g2o/core/base_binary_edge.h:60:75: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
^
In file included from /opt/ros/indigo/include/g2o/types/sba/types_sba.h:32:0,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:55:
/opt/ros/indigo/include/g2o/core/base_multi_edge.h:69:47: warning: Eigen::AlignedBit is deprecated (declared at /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162) [-Wdeprecated-declarations]
typedef Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
^
[ 7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryDVO.cpp.o
[ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryOkvis.cpp.o
[ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryORBSLAM2.cpp.o
[ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryLOAM.cpp.o
[ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OdometryMSCKF.cpp.o
In file included from /usr/local/include/eigen3/Eigen/Core:366:0,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:34,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/Optimizer.h:35,
from /home/d4sys/rtabmap/corelib/src/../include/rtabmap/core/OptimizerG2O.h:33,
from /home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:36:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>]:
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:42: required from void Ei gen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int, long int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782:93: required from void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]
/usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714:65: required from Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]
/usr/local/include/eigen3/Eigen/src/Core/Matrix.h:225:30: required from Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]
/usr/local/include/eigen3/Eigen/src/Core/PermutationMatrix.h:365:17: required from Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 6, 6>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 6, 6>]
/opt/ros/indigo/include/g2o/solvers/eigen/linear_solver_eigen.h:98:39: required from bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 6, 6>]
/home/d4sys/rtabmap/corelib/src/OptimizerG2O.cpp:1456:1: required from here
/usr/local/include/eige n3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h:816:3: note: in expansion of macro EIGEN_STATIC_ASSERT
EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
^
/usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:834:3: note: in expansion of macro EIGEN_CHECK_BINARY_COMPATIBILIY
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
^
[ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/IMUThread.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Stereo.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoDense.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/StereoCameraModel.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/OccupancyGrid.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GainCompensator.cpp.o
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/OptimizerG2O.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2
Kindly help me with this problem
Thanks
---
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