[ros-users] PCL registration compile errors

Wed Sep 15 15:21:11 UTC 2010

Hi Radu,

I don't have any Eigen code in my source, so I think all the errors are coming
from PCL.  I'll try getting the latest code from the svn to see if that fixes
things; right now ubuntu is updating ROS for me so it may be stale.

-Jared

Quoting Radu Bogdan Rusu <rusu at willowgarage.com>:

> Hi Jared,
>
> We've switched to Eigen3. I'm meeting with one of the main eigen 
> developers/maintainers this week to discuss future plans for us 
> benefiting more from eigen in ROS packages. The current errors that 
> you're seeing are caused by mixing eigen2 and eigen3 together. I've 
> set up a wiki page for eigen3 with the list of changes we had to make 
> to convert PCL. If it's not too much trouble, can you try to see if 
> that works for you? I'd really like PCL core 1.0 to depend on eigen3 
> when we'll finish it later this year - so fixing these issues now 
> would be great.
>
> Cheers,
> Radu.
> --
> http://www.rbrusu.com
>
> On Sep 14, 2010, at 12:26 PM, Jared Marshall Glover <jglov at MIT.EDU> wrote:
>
>> Hi,
>>
>> I just updated cturtle and I'm getting these compile errors in PCL.  I've
>> attached my code (it's a simple registration-based point cloud tracker which
>> was compiling fine before the update).
>>
>> Thanks,
>> Jared
>>
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/features/feature.hpp:326:
>> error: ?eigen_values? was not declared in this scope
>> In file included from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/sample_consensus/sac_model_registration.h:169,
>>                  from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/registration/icp.h:46,
>>                  from /home/jglov/lis/furniture/src/tracker.cpp:6:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:
>> In member function ?void
>> pcl::SampleConsensusModelRegistration<PointT>::getSamples(int&,
>> std::vector<int, std::allocator<int> >&)?:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:73:
>> error: ?Array4f? is not a member of ?Eigen?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:73:
>> error: expected ?;? before ?p1p0?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:75:
>> error: ?Array4f? is not a member of ?Eigen?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:75:
>> error: expected ?;? before ?dy1dy2?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:91:
>> error: ?Array4f? is not a member of ?Eigen?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:91:
>> error: expected ?;? before ?p2p0?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:93:
>> error: ?dy1dy2? was not declared in this scope
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:93:
>> error: ?p1p0? was not declared in this scope
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:93:
>> error: ?p2p0? was not declared in this scope
>> In file included from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/sample_consensus/sac_model_registration.h:169,
>>                  from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/registration/icp.h:46,
>>                  from /home/jglov/lis/furniture/src/tracker.cpp:6:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:102:
>> error: ?dy1dy2? was not declared in this scope
>> In file included from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/filters/voxel_grid.h:263,
>>                  from /home/jglov/lis/furniture/src/tracker.cpp:4:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/filters/voxel_grid.hpp:
>> In member function ?void pcl::VoxelGrid<PointT>::applyFilter(typename
>> pcl::Filter<PointT>::PointCloud&) [with PointT = pcl::PointXYZ]?:
>> /home/jglov/lis/furniture/src/tracker.cpp:95:   instantiated from here
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/filters/voxel_grid.hpp:223:
>> error: ?class Eigen::VectorXf? has no member named ?head?
>> /home/jglov/lis/furniture/src/tracker.cpp:95:   instantiated from here
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/filters/voxel_grid.hpp:265:
>> error: ?class Eigen::VectorXf? has no member named ?head?
>> In file included from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/sample_consensus/sac_model_registration.h:169,
>>                  from
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/include/pcl/registration/icp.h:46,
>>                  from /home/jglov/lis/furniture/src/tracker.cpp:6:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:
>> In member function ?void
>> pcl::SampleConsensusModelRegistration<PointT>::getSamples(int&,
>> std::vector<int, std::allocator<int> >&) [with PointT = pcl::PointXYZ]?:
>> /home/jglov/lis/furniture/src/tracker.cpp:95:   instantiated from here
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:88:
>> warning: unused variable ?p2?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:69:
>> warning: unused variable ?p0?
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/sample_consensus/sac_model_registration.hpp:70:
>> warning: unused variable ?p1?
>> make[3]: *** [CMakeFiles/tracker.dir/src/tracker.o] Error 1
>> make[3]: Leaving directory `/home/jglov/lis/furniture/build'
>> make[2]: *** [CMakeFiles/tracker.dir/all] Error 2
>> make[2]: Leaving directory `/home/jglov/lis/furniture/build'
>> make[1]: *** [all] Error 2
>> make[1]: Leaving directory `/home/jglov/lis/furniture/build'
>>
>> <tracker.cpp>
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