Comments (7)
jlblancoc
commented on July 25, 2024
Could you give it a try to this branch [1]?
That's exactly the kind of problems that those changes are trying to
avoid... Please, report back whether it worked or not.
JL
[1] https://github.com/jlblancoc/gtsam/tree/flags_via_modern_cmake
…On Mon, Jun 10, 2019 at 5:05 AM LiShuaixin ***@***.***> wrote:
Hello, thanks for your patience. I cloned the latest develop branch of GTSAM on Ubuntu 16.04 with Boost 1.58 and tried importing it in my project.
Part of CMakeLists.txt looks like this:
`find_package(Boost COMPONENTS date_time serialization program_options thread system signals regex filesystem REQUIRED )
find_package( Eigen3 REQUIRED )
find_package( GTSAM REQUIRED )
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${Boost_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${GTSAM_INCLUDE_DIR}
${TBB_INCLUDE_DIRS}
)
add_library(${PROJECT_NAME} SHARED
src/factor_graph.cpp)
target_link_libraries(${PROJECT_NAME}
${EIGEN3_LIBS}
${GTSAM_LIBRARY_DIRS}
/usr/lib/x86_64-linux-gnu/libtbb.so
)
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES} -lgtsam -ltbb)`
factor_graph.cpp is a source code file where I put all factors I need.
It worked smoothly and I got a executable. But when I run it, the system broke down, and throw off segment fault directly before step into the main function in executable.cpp file. Then I commented the line src/factor_graph.cpp in CMakeLists and rebuilt it. The executable could run again.
did I import gtsam right? please help. thanks in advance!
—
You are receiving this because you are subscribed to this thread.
Reply to this email directly, view it on GitHub, or mute the thread.
--
/**
* Jose Luis Blanco-Claraco
* Universidad de Almería - Departamento de Ingeniería
* [Homepage]( https://w3.ual.es/~jlblanco/ )
* [GH profile]( https://github.com/jlblancoc )
*/
from gtsam.
LiShuaixin
commented on July 25, 2024
Hi @jlblancoc , thanks for your reply! I will give it a try and report what happen.
Actually, I can smoothly run lego-loam which uses gtsam to achieve global optimization. I wonder why it fail in my project while success in lego-loam on the same PC
from gtsam.
LiShuaixin
commented on July 25, 2024
Hi, @jlblancoc. I tried rebuilding the branch version, but failed when make check.
Errors output as follow:
99% tests passed, 1 tests failed out of 236
Total Test time (real) = 2.44 sec
The following tests FAILED:
166 - testDoglegOptimizer (Failed)
Errors while running CTest
CMakeFiles/check.dir/build.make:57: recipe for target 'CMakeFiles/check' failed
make[3]: *** [CMakeFiles/check] Error 8
CMakeFiles/Makefile2:651: recipe for target 'CMakeFiles/check.dir/all' failed
make[2]: *** [CMakeFiles/check.dir/all] Error 2
CMakeFiles/Makefile2:658: recipe for target 'CMakeFiles/check.dir/rule' failed
make[1]: *** [CMakeFiles/check.dir/rule] Error 2
Makefile:221: recipe for target 'check' failed
make: *** [check] Error 2
Then I rebuilt it by 'make -j4' directly, and it worked.
But when I imported it in my project using the same cmakelist file, errors occurred since GTSAM was built against a different version of Eigen:
In file included from /usr/local/include/gtsam/base/Matrix.h:26:0,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:25,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/geometry/Unit3.h:23,
from /usr/local/include/gtsam/geometry/Rot3.h:25,
from /home/lee/loam_ws/src/Inertial-LOAM/Inertial-LOAM/src/mapOptmization.cpp:36:
/usr/local/include/gtsam/base/Vector.h:72:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen
static_assert(
from gtsam.
jlblancoc
commented on July 25, 2024
Good, it seems that the crash was caused by mixing Eigen versions (probably)... it's better to have a build error than a runtime crash, IMO.
Try rebuilding GTSAM changing its CMake variables such as it uses the system version of Eigen, assuming that your own project does so as well, make install again, and check if it works.
from gtsam.
LiShuaixin
commented on July 25, 2024
The screen ouputs shows that the version of Eigen it use is 3.3.7. Is it compatible with GTSAM?
-- Use System Eigen : OFF (Using version: 3.3.7)
from gtsam.
jlblancoc
commented on July 25, 2024
run cmake-gui . from your build directory, check "GTSAM_USE_SYSTEM_EIGEN", configure, generate, rebuild from the console as usual.
from gtsam.
LiShuaixin
commented on July 25, 2024
I checked the source code and found the reason. Thanks!
from gtsam.
Related Issues (20)
- writeG2o will eliminate symbols HOT 2
- wrong use of gtsam_wrapper, undefined function 'gtsam.KeyVector' corresponding to input argument of type 'uint64' when running test_gtsam.m HOT 3
- Warp EssentialMatrixConstraint into Matlab toolbox HOT 1
- some questions about the Jacobian of Pose3::transformTo() and Pose3::transformTo() HOT 1
- gtsam should use eigen cmake config file HOT 8
- error: ‘identity’ is not a member of ‘gtsam::Pose3’ HOT 1
- About [mapOptmization-6] process has died HOT 3
- Is jointMarginalCovariance behaving as expected?
- Sliding window with ISAM2 HOT 3
- ubutnu 16 compilation or compilation accept boost 1.58 HOT 1
- How to specify gtsam under non-standard path in cmake? HOT 2
- Compilation Problems and Missing Includes HOT 1
- fisheye camera distortion issue HOT 6
- TBB library not used when building in RelWithDebInfo HOT 3
- Pose3 Subvertices HOT 4
- IMUScaledFactor HOT 7
- New IMU Preintegration Method
- Expressions cause segfault on Windows (MSVC 2019 v16) HOT 9
- Print statements cause changes in optimization behavior. HOT 5
- Python warpped install error:pyparsing.exceptions.ParseException HOT 11
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from gtsam.