[ros-users] PCL registration compile errors

Jared Marshall Glover jglov at MIT.EDU
Wed Sep 15 17:12:53 UTC 2010


Yep, I get the same errors after updating ROS via svn.  I can take a shot at
fixing PCL, if that's the problem, but I don't think I have write 
permission to
the svn.

-Jared



Quoting Jared Marshall Glover <jglov at MIT.EDU>:

> 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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