[ros-users] Eigen conflict in pcl/point_types.hpp
Jordi Pages
jordi.pages at pal-robotics.com
Tue Aug 31 16:23:14 UTC 2010
Ok, it sounds great. I will be looking forward the patch :)
Thanks,
Jordi
On Tue, Aug 31, 2010 at 6:18 PM, Radu Bogdan Rusu <rusu at willowgarage.com>wrote:
> Jordi,
>
> Thanks for the report. Unfortunately, I went through the same process
> yesterday where packages that depend on both eigen (2) and eigen3 have
> similar compilation issues.
>
> The current code in PCL (or any other package that uses eigen for more than
> just the standard matrix/vector basic operations) cannot be compiled with
> Eigen3 as the structures changed a bit. I spent some time yesterday to
> document these changes (see http://www.ros.org/wiki/eigen3). We're
> currently preparing a big patch against PCL trunk that switches the entire
> internal structure to Eigen3. Part of the patch is the change from
> ForceAligned to Aligned in Maps, which should fix your compilation issue.
>
> Cheers,
> Radu.
>
>
> On 08/31/2010 07:25 AM, Jordi Pages wrote:
>
>> Hi, I have installed ROS c-turtle last release and I have created a
>> service offering PCL capabilities through ROS messages. I need to call
>> this service from code written apart from ROS that is linking to Eigen
>> 3. The client should transform our own point cloud data structure to
>> PointCloud2 message and then communicate with the service in order to
>> perform filtering, segmentation, etc. Such architecture worked before
>> installing the last release. However, now I get compilation problems
>> related to file pcl/point_types.hpp. I have seen that this file has
>> recently changed the way the different point clouds data types are
>> defined. One of the compilation errors is as follows:
>>
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp:
>> In member function ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 0>
>> pcl::_PointXYZ::getVector4fMap()’:
>>
>> /opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp:73:
>> error: conversion from ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>,
>> 1>’ to non-scalar type ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>,
>> 0>’ requested
>>
>> I have taken a look to point_types.hpp and it seems that
>> Eigen::Vector4f::MapAligned (data)) does not return an aligned Map when
>> it should?
>>
>> It is not the first time I get these type of compilation errors. I guess
>> that most of them appear due to conflicts between Eigen 2 and Eigen 3.
>> That is why I try to isolate pure ROS code in services and use minimal
>> ROS dependencies in clients that make use of our own Eigen 3 based code.
>> I have read that Eigen 3 is being used in the unstable trunk of ROS.
>> Nevertheless, has anybody faced these problems before? Am I doing
>> something wrong?
>>
>> Thanks
>>
>> --
>> Jordi Pages, PhD
>> Researcher
>> Pal Robotics S.L.
>>
>> Tel: +34.93.414.53.47
>> Fax: +34.93.209.11.09
>> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
>> http://www.pal-robotics.com/
>>
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>
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
>
--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.
Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/
AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden
contener información privilegiada y/o confidencial que está dirigida
exclusivamente a su destinatario.
Si usted recibe este mensaje y no es el destinatario indicado, o el empleado
encargado de su entrega a dicha persona, por favor, notifíquelo
inmediatamente y remita el mensaje original a la dirección
de correo electrónico indicada. Cualquier copia, uso o distribución no
autorizados de esta comunicación queda estrictamente prohibida.
CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may
contain confidential information which is privileged and intended only for
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intended recipient, you are hereby notified that any disclosure, copying,
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