Should this build against the master branch of Sophus?

As far as I can tell, Sophus is .hpp only, yet for example in line 14 of math_utils.h, you seem to be expecting #include <sophus/se3.h> to exist.

System info:

• Ubuntu 16.04 with ROS Kinetic Kame
• GCC version 5.4.0
• Eigen 3.2.92
• Sophus install with package ros-kinetic-sophus

I am having a few issues compiling with Sophus. First (as a previous issue brought up), I only see .hpp files in my Sophus installation whereas vikit includes the as .h files.

Secondly, there seem to be conflicting typedefs/using declarations when I modified the include directives. I get a number of errors regarding use of type "Matrix", problems with missing template arguments for Sophus types, etc.

Are there specific versions of Sophus or Eigen I should be using?

Hi, I'm trying to compile vikit_common using c++17 on my mac, all my libraries are installed using C++ 17 standard, but somehow I'm getting this template error.

I've tried to mention the template arguments as Sophus::SE3<Matrix3d,Vector2d> the code still doesn't seem to work and throws an error. I think this is a c++17 error but I'm not sure.

Hi,
I found that the package has some error with opencv 3.0, maybe cause of some #define changed in 3.0. But I need to use 3.0 's cuda functions. Could someone suggest me how to fix the problem?

Can anybody give me a hand?
It took me a while to build vikit-common on an ARM-based open source board.
However, I've got a lot of errors as shown at the botom:
All errors are from 2 lines in the same file ../vikit_common/src/homography.cpp

1. line 34 H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
2. line 263 Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());

Any updated version to eliminate these two errors?

Cheers
Pei

[ 69%] Building CXX object CMakeFiles/vikit_common.dir/src/homography.cpp.o
In file included from ....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:12:0:
....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:37:15: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
Sophus::SE3 T; //!< second from first
^
....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:75:7: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
SE3 T_c2_from_c1; //!< Relative translation and rotation of two images
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::calcFromPlaneParams(const Vector3d&, const Vector3d&)’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:47: warning: ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:281) [-Wdeprecated-declarations]
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()n_c1.transpose())/d;
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::findBestDecomposition()’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:262:19: warning: ‘Sophus::SE3’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:35) [-Wdeprecated-declarations]
Sophus::SE3 T = decompositions[i].T;
^
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:46: warning: ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’ is deprecated (declared at ....../Programs/svo/Sophus/sophus/se3.hpp:281) [-Wdeprecated-declarations]
Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());
^
In file included from /usr/include/eigen3/Eigen/Core:254:0,
from ....../Programs/svo/rpg_vikit/vikit_common/include/vikit/homography.h:19,
from ....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:12:
/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h: In instantiation of ‘const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase::operator(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>; typename Eigen::ProductReturnType<Derived, OtherDerived>::Type = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>]’:
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:70: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: INVALID_MATRIX_PRODUCT
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:591:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
^
/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h: In instantiation of ‘Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_sum_op; Lhs = const Eigen::Matrix<double, 4, 4>; Rhs = const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> >]’:
/usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseBinaryOps.h:27:1: required from ‘const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<typename Eigen::internal::traits::Scalar>, const Derived, const OtherDerived> Eigen::MatrixBase::operator+(const Eigen::MatrixBase&) const [with OtherDerived = Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> >; Derived = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:97: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:130:7: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs, Rhs)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 3, 3>; OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:281:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 4, 4>&, const Eigen::Matrix<double, 3, 3>&, 6>; _Scalar = double; int _Rows = 3; int _Cols = 3; int _Options = 0; int _MaxRows = 3; int _MaxCols = 3]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:263:70: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 4, 4>; OtherDerived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<double, 4, 4>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:281:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::MatrixBase&) [with OtherDerived = Eigen::Matrix<double, 3, 3>; _Scalar = double; int _Rows = 4; int _Cols = 4; int _Options = 0; int _MaxRows = 4; int _MaxCols = 4]’
....../Programs/svo/Sophus/sophus/se3.hpp:282:25: required from ‘const M3_marcos_dont_like_commas Sophus::SE3GroupBase::rotation_matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::M3_marcos_dont_like_commas = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:47: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
/usr/include/eigen3/Eigen/src/Core/Assign.h: In instantiation of ‘Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:411:46: required from ‘Derived& Eigen::PlainObjectBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Assign.h:520:123: required from ‘static Derived& Eigen::internal::assign_selector<Derived, OtherDerived, false, false>::run(Derived&, const OtherDerived&) [with Derived = Eigen::Matrix<double, 3, 3>; OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:618:105: required from ‘Derived& Eigen::PlainObjectBase::_set_noalias(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:603:120: required from ‘void Eigen::PlainObjectBase::_set_selector(const OtherDerived&, const Eigen::internal::false_type&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:595:189: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; Derived = Eigen::Matrix<double, 3, 3>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:172:30: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::MatrixBase&) [with OtherDerived = Eigen::CwiseBinaryOpEigen::internal::scalar_sum_op<double, const Eigen::Matrix<double, 4, 4>, const Eigen::CwiseUnaryOpEigen::internal::scalar_quotient1_op<double, const Eigen::CoeffBasedProduct<const Eigen::Matrix<double, 3, 1>&, const Eigen::Transpose<const Eigen::Matrix<double, 3, 1> >, 256> > >; _Scalar = double; int _Rows = 3; int _Cols = 3; int _Options = 0; int _MaxRows = 3; int _MaxCols = 3]’
....../Programs/svo/rpg_vikit/vikit_common/src/homography.cpp:34:16: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:182:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(
^
/usr/include/eigen3/Eigen/src/Core/Assign.h:492:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE’
EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
^
make[2]: *** [CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
bananapi@lemaker:~/Programs/svo/rpg_vikit/vikit_common/build$

This is a great repo, but it looks like there's no clear licensing statement. Would it be possible to add the license either as LICENSE.md or in the README.md? Obviously many would love to see this open-sourced, but even if it's closed it's important to have clarity.

P.S. Without a specific license the files in this project are copyrighted under the standard fully restrictive international license. They can still be used in internal projects, but they and their compiled binaries cannot be redistributed.

Execute the command：sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
The problem is as follows:
-- Build files have been written to: /vikit/ros_catkin_ws/build_isolated/vikit_common
==> make -j4 -l4 in '/vikit/ros_catkin_ws/build_isolated/vikit_common'
Scanning dependencies of target vikit_common
[ 17%] Building CXX object CMakeFiles/vikit_common.dir/src/math_utils.cpp.o
[ 17%] Building CXX object CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
[ 17%] Building CXX object CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
[ 23%] Building CXX object CMakeFiles/vikit_common.dir/src/vision.cpp.o
*** Error in /usr/bin/c++': double free or corruption (top): 0x0152aea8 *** *** Error in /usr/bin/c++': double free or corruption (top): 0x01a8aea8 ***
CMakeFiles/vikit_common.dir/build.make:62: recipe for target

'CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o' failed
*** Error in /usr/bin/c++': double free or corruption (top): 0x011d5ea8 *** *** Error in /usr/bin/c++': double free or corruption (top): 0x019a6ea8 ***
make[2]: *** [CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o] Aborted
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/vikit_common.dir/build.make:86: recipe for target

'CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o' failed
make[2]: *** [CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o] Aborted
CMakeFiles/vikit_common.dir/build.make:110: recipe for target

'CMakeFiles/vikit_common.dir/src/math_utils.cpp.o' failed
make[2]: *** [CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Aborted
CMakeFiles/vikit_common.dir/build.make:134: recipe for target

'CMakeFiles/vikit_common.dir/src/vision.cpp.o' failed
make[2]: *** [CMakeFiles/vikit_common.dir/src/vision.cpp.o] Aborted
CMakeFiles/Makefile2:451: recipe for target 'CMakeFiles/vikit_common.dir/all' failed
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'vikit_common':
Command '['/opt/ros/indigo/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2
Reproduce this error by running:
==> cd /vikit/ros_catkin_ws/build_isolated/vikit_common && /opt/ros/indigo/env.sh make -j4 -l4

Command failed, exiting.
vikit@raspberrypi:~/ros_catkin_ws#

How to solve this problem, thank you.

Run catkin_make command error
CMake Error: The following variables are used in this project, but they are set to

NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
G2O_SOLVER_CHOLMOD
linked by target "svo" in directory /root/ros_catkin_ws/src/rpg_svo/svo

-- Configuring incomplete, errors occurred!
See also "/root/ros_catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/root/ros_catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

How can I fix it?

I am trying to build rpg_svo on Ubuntu 12.04 and ROS Hydro.

I get this error-:

/tmp/ccbQPf0H.s:481: Error: no such instruction: `vfmadd312ss .LC0(%rip),%xmm0,%xmm0'
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o] Error 1

Hi!

So, I try to compile vikit_ros by using catkin build. Since the catkin crew is slowly migrating to catkin build from catkin_make I thought this to be a good move.

However, when I issue the following commands, the below result happens. Please advise, it looks like vikit_common is not installed properly even though it is built properly. Is there some config option I can change?

$ catkin build vikit_common vikit_ros
-----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/elly/mybot_ws/devel:/opt/ros/kinetic
Workspace:                   /home/elly/catkin_ws
-----------------------------------------------------------------------
Source Space:       [exists] /home/elly/catkin_ws/src
Log Space:          [exists] /home/elly/catkin_ws/logs
Build Space:        [exists] /home/elly/catkin_ws/build
Devel Space:        [exists] /home/elly/catkin_ws/devel
Install Space:      [exists] /home/elly/catkin_ws/install
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        merged
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '15' packages in 0.0 seconds.                                                                                                   
Starting  >>> vikit_common                                                                                                                    
Finished  <<< vikit_common                [ 1.0 seconds ]                                                                                     
Starting  >>> vikit_ros                                                                                                                       
______________________________________________________________________________________________________________________________________________
Errors     << vikit_ros:cmake /home/elly/catkin_ws/logs/vikit_ros/build.cmake.008.log                                                         
CMake Error at /home/elly/catkin_ws/install/share/vikit_common/cmake/vikit_commonConfig.cmake:141 (message):
  Project 'vikit_ros' tried to find library 'vikit_common'.  The library is
  neither a target nor built/installed properly.  Did you compile project
  'vikit_common'? Did you find_package() it before the subdirectory
  containing its code is included?
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  CMakeLists.txt:17 (FIND_PACKAGE)


cd /home/elly/catkin_ws/build/vikit_ros; catkin build --get-env vikit_ros | catkin env -si  /usr/bin/cmake /home/elly/catkin_ws/src/rpg_vikit/vikit_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/elly/catkin_ws/devel/.private/vikit_ros -DCMAKE_INSTALL_PREFIX=/home/elly/catkin_ws/install; cd -
..............................................................................................................................................
Failed     << vikit_ros:cmake             [ Exited with code 1 ]                                                                              
Failed    <<< vikit_ros                   [ 1.1 seconds ]                                                                                     
[build] Summary: 1 of 2 packages succeeded.                                                                                                   
[build]   Ignored:   13 packages were skipped or are blacklisted.                                                                             
[build]   Warnings:  None.                                                                                                                    
[build]   Abandoned: None.                                                                                                                    
[build]   Failed:    1 packages failed.                                                                                                       
[build] Runtime: 2.3 seconds total.                                                                                                           

Hi, all

I had followed the steps in" https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-ROS ", but at the last step cakin_make, I came across the following errors:

Scanning dependencies of target vikit_common
[ 78%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
[ 79%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
[ 80%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o
/tmp/cclNHRQ2.s: Assembler messages:
/tmp/cclNHRQ2.s:367: Error: no such instruction: vfmadd312sd 8(%rsi),%xmm5,%xmm1' /tmp/cclNHRQ2.s:369: Error: no such instruction:vfmadd312sd 16(%rsi),%xmm5,%xmm2'
/tmp/cclNHRQ2.s:370: Error: no such instruction: vfmadd312sd (%rsi),%xmm5,%xmm0' /tmp/cclNHRQ2.s:741: Error: no such instruction:vfmadd312sd 208(%rsp),%xmm4,%xmm2'
/tmp/cclNHRQ2.s:748: Error: no such instruction: vfmadd312sd 224(%rsp),%xmm7,%xmm5' /tmp/cclNHRQ2.s:752: Error: no such instruction:vfmadd312sd 240(%rsp),%xmm7,%xmm1'
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Error 1
make[1]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
Invoking "make" failed

I don't know what's wrong about "
/tmp/cclNHRQ2.s: Assembler messages:
/tmp/cclNHRQ2.s:367: Error: no such instruction: `vfmadd312sd 8(%rsi),%xmm5,%xmm1' "

Could somebody suggest me how to fix it?
My system is ubuntu 12.04 (64bit) with ROS hydro distribution.

Best regards,
Milton

The line 95 should be modified to .h*, otherwise if make install the .hpp file won't be installed!

https://github.com/uzh-rpg/rpg_vikit/blob/master/vikit_common/CMakeLists.txt#L95 needs PATTERN "*.hpp" in addition, otherwise nlls_solver_impl.hpp does not get installed.

Hello,

Has anyone managed to use Vikit on windows??
I'm trying to and I'm getting errors:
vikit\nlls_solver_impl.hpp(291): error C4430: missing type specifier - int assumed. Note: C++ does not support default-int
vikit\nlls_solver_impl.hpp(291): error C2988: unrecognizable template declaration/definition
vikit\nlls_solver_impl.hpp(291): error C2143: syntax error: missing ',' before '<'
vikit\nlls_solver_impl.hpp(292): error C2244: 'vk::NLLSSolver<D,T>::setPrior': unable to match function definition to an existing declaration
vikit\nlls_solver_impl.hpp(289): note: see declaration of 'vk::NLLSSolver<D,T>::setPrior'
vikit\nlls_solver_impl.hpp(292): note: definition
vikit\nlls_solver_impl.hpp(292): note: 'void vk::NLLSSolver<D,T>::setPrior(const T &,const int)'
vikit\nlls_solver_impl.hpp(292): note: existing declarations
vikit\nlls_solver_impl.hpp(292): note: 'void vk::NLLSSolver<D,T>::setPrior(const T &,const Eigen::Matrix<double,D,D,|_Rows==&&_Cols!=?:_Cols==&&_Rows!=?:,_Rows,_Cols> &)'
vikit\aligned_mem.h(67) : error C3861: 'posix_memalign': identifier not found

https://github.com/uzh-rpg/rpg_vikit/blob/master/vikit_common/src/homography.cpp#L265

in this loop there is no check if feature is inlier or not.

Hello, i find a bug in

https://github.com/uzh-rpg/rpg_vikit/blob/master/vikit_common/test/test_patch_score.cpp#L100 should contain the path to the test data image.

getting compile errors: releated to Sophus. Followed directions for install....any ideas?

In file included from /home/rjn/catkin_ws/src/rpg/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
                 from /home/rjn/catkin_ws/src/rpg/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/rjn/catkin_ws/src/rpg/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
compilation terminated.

I'm working an a project of drone and I'm having an issue with my Raspberry Pi 2 B. When I'm trying to install vikit_common, I've this on screen :

pi@raspberrypi ~/workspace/rpg_vikit/vikit_common/build $ cmake ..
[ 7%] Building CXX object CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
cc1plus: error: bad value (native) for -march switch
cc1plus: error: bad value (native) for -march switch
CMakeFiles/vikit_common.dir/build.make:57: recipe for target 'CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o' failed
make[2]: *** [CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o] Error 1
CMakeFiles/Makefile2:168: recipe for target 'CMakeFiles/vikit_common.dir/all' failed
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
Makefile:116: recipe for target 'all' failed
make: *** [all] Error 2

How can I solve the problem ?

~/catkin_dp/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: 
error: reference to ‘Matrix’ is ambiguous
  147 |                Matrix<double,2,6> & frame_jac)
      |                ^~~~~~

The content in "math_utils.h" is:

frameJac_xyz2uv(const Vector3d & xyz,
                 const double & focal_length,
                 Matrix<double,2,6> & frame_jac)

I have tried to add 'vk::' before 'Matrix', but it has not worked.

Hi,
I discovered that the patch_score.h file in rpg_vikit/vikit_common/include/vikit has an error in the 14th line. In the following block of code:
"#if SSE2

include <tmmintrin.h

endif

it validates the availability of SSE2, but includes tmmintrin.h, which is a library for optimizing code with SSSE3, when it sould include pmmintrin.h, which is a library for optimizing code with SSE2. (It validates the availability of SSE2 to include SSSE3 without validating the availability of SSSE3)

References:
http://docs.oracle.com/cd/E24457_01/html/E21991/gliwk.html

I installed ros-kinetic-sophus
However when compiling vikit I get the following error

Errors << vikit_common:check /home/rjn/catkin_ws/logs/vikit_common/build.check.004.log
CMake Error at /home/rjn/catkin_ws/src/rpg/rpg_vikit/vikit_common/CMakeLists.txt:26 (FIND_PACKAGE):
By not providing "FindSophus.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Sophus", but
CMake did not find one.

Could not find a package configuration file provided by "Sophus" with any
of the following names: