catkin build voxgraph :error: ‘typedef class Eigen::Matrix<float, 3, 1> Eigen::Vector3’ redeclared as different kind of symbol

[Zhongwei-Luo]

In file included from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/tsdf_submap.h:12:0, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:1: /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/common.h:63:44: error: ‘typedef class Eigen::Matrix<float, 3, 1> Eigen::Vector3’ redeclared as different kind of symbol typedef Matrix<cblox::FloatingPoint, 3, 1> Vector3; ^~~~~~~ In file included from /usr/local/include/eigen3/Eigen/Core:279:0, from /usr/local/include/eigen3/Eigen/Geometry:11, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/tsdf_submap.h:7, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:1: /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:539:1: note: previous declaration ‘template<class Type> using Vector3 = Eigen::Matrix<Type, 3, 1>’ EIGEN_MAKE_TYPEDEFS(3, 3) ^ /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp: In static member function ‘static cblox::TsdfSubmap::Ptr cblox::TsdfSubmap::LoadFromStream(const Config&, std::fstream*, uint64_t*)’: /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:73:18: error: missing template arguments before ‘t’ Eigen::Vector3 t = T_M_S.getPosition(); ^ /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:75:24: error: ‘t’ was not declared in this scope LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:75:24: note: suggested alternative: ‘tm’ LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ tm In file included from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/integrator/tsdf_submap_collection_integrator.h:9:0, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/integrator/tsdf_submap_collection_integrator.cpp:1: /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/common.h:63:44: error: ‘typedef class Eigen::Matrix<float, 3, 1> Eigen::Vector3’ redeclared as different kind of symbol typedef Matrix<cblox::FloatingPoint, 3, 1> Vector3; ^~~~~~~ In file included from /usr/local/include/eigen3/Eigen/Core:279:0, from /usr/local/include/eigen3/Eigen/Dense:1, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/minkindr/minkindr/include/kindr/minimal/rotation-quaternion.h:30, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/minkindr/minkindr/include/kindr/minimal/quat-transformation.h:30, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/voxblox/voxblox/include/voxblox/core/common.h:16, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/voxblox/voxblox/include/voxblox/core/tsdf_map.h:10, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/integrator/tsdf_submap_collection_integrator.h:6, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/integrator/tsdf_submap_collection_integrator.cpp:1: /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:539:1: note: previous declaration ‘template<class Type> using Vector3 = Eigen::Matrix<Type, 3, 1>’ EIGEN_MAKE_TYPEDEFS(3, 3) ^ In file included from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/tsdf_submap.h:12:0, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/tsdf_esdf_submap.h:8, from /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:1: /home/lzw/resplendent_code/SLAM/voxblox_ws/src/cblox/cblox/include/cblox/core/common.h:63:44: error: ‘typedef class Eigen::Matrix<float, 3, 1> Eigen::Vector3’ redeclared as different kind of symbol typedef Matrix<cblox::FloatingPoint, 3, 1> Vector3; ^~~~~~~

[alexmillane]

It would appear that in a "recent" release Eigen has added a typedef that we had manually added in cblox.... Could you give me some information about the system you're running on? Ubuntu/ROS version?

[Zhongwei-Luo]

It would appear that in a "recent" release Eigen has added a typedef that we had manually added in cblox.... Could you give me some information about the system you're running on? Ubuntu/ROS version?

of course，sorry i dont provide at the beginning！

Ubuntu; Linux version 5.3.0-51-generic (buildd@lgw01-amd64-018) (gcc version 7.5.0 (Ubuntu 7.5.0-3ubuntu1~18.04)) #44~18.04.2-Ubuntu SMP Thu Apr 23 14:27:18 UTC 2020

ROS:1.14.5 melodic

eigen： #define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 3 #define EIGEN_MINOR_VERSION 4 in /usr/local/include/eigen_333/Eigen/src/Core/util/Macros.h

[alexmillane]

of course，sorry i dont provide at the beginning！

No worries :)

So 18.04 and ROS melodic is what I'm on, so everything should work. I suspect you have a later version than 3.3.4 floating around on your system. The reason I say that, is that the offending typedef (line 539 in Matrix.h) does not exist in 3.3.4. In fact the file doesn't even have that many lines. However, on eigen master, the typedef is there:

https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/src/Core/Matrix.h#L539

and 3.3.4:

https://gitlab.com/libeigen/eigen/-/blob/3.3.4/Eigen/src/Core/Matrix.h#L459

Is it possible you built eigen from source at some point?

[Zhongwei-Luo]

当然，抱歉，我一开始没有提供！

别担心 ：）

因此，我正在使用18.04和ROS旋律，因此一切正常。我怀疑您的系统上有比3.3.4更高的版本。我之所以这样说，是因为3.3.4中不存在令人讨厌的typedef（Matrix.h中的539行）。实际上，该文件甚至没有那么多行。但是，在eigen master上，typedef存在：

https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/src/Core/Matrix.h#L539

和3.3.4：

https://gitlab.com/libeigen/eigen/-/blob/3.3.4/Eigen/src/Core/Matrix.h#L459

您是否有可能在某个时候从源头构建本征？

yeah`，maybe i clone the latest eigen and build it from source,maybe i build it in someday in 3.1-now （cmake .. make make install）

i found
[#define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 3 #define EIGEN_MINOR_VERSION 4 ] in /usr/local/include/eigen_333/Eigen/src/Core/util/Macros.h

and use command 【locate eigen3】in shell output： lzw@resplendent-star:~$ locate eigen3 /home/lzw/3d_lib/eigen-master/eigen3.pc.in /home/lzw/3d_lib/eigen-master/signature_of_eigen3_matrix_library /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3 /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/CMakeLists.txt /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/eigen3_interface.hh /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/main_adv.cpp /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/main_linear.cpp /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/main_matmat.cpp /home/lzw/3d_lib/eigen-master/bench/btl/libs/eigen3/main_vecmat.cpp /home/lzw/3d_lib/eigen-master/build/eigen3.pc /home/lzw/3d_lib/eigen-master/build/CMakeFiles/Export/share/eigen3 /home/lzw/3d_lib/eigen-master/build/CMakeFiles/Export/share/eigen3/cmake /home/lzw/3d_lib/eigen-master/build/CMakeFiles/Export/share/eigen3/cmake/Eigen3Targets.cmake /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/docker/ubuntu-boost-tbb-eigen3 /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/docker/ubuntu-boost-tbb-eigen3/Dockerfile /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/eigen3.pc.in /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/signature_of_eigen3_matrix_library /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3 /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/CMakeLists.txt /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/btl_tiny_eigen3.cpp /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/eigen3_interface.hh /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/main_adv.cpp /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/main_linear.cpp /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/main_matmat.cpp /home/lzw/resplendent_code/kimera_ros1_ws/src/gtsam/gtsam/3rdparty/Eigen/bench/btl/libs/eigen3/main_vecmat.cpp /usr/include/eigen3 /usr/include/eigen3/Eigen /usr/include/eigen3/signature_of_eigen3_matrix_library /usr/include/eigen3/unsupported /usr/include/eigen3/Eigen/Cholesky /usr/include/eigen3/Eigen/CholmodSupport /usr/include/eigen3/Eigen/Core /usr/include/eigen3/Eigen/Dense /usr/include/eigen3/Eigen/Eigen /usr/include/eigen3/Eigen/Eigenvalues /usr/include/eigen3/Eigen/Geometry /usr/include/eigen3/Eigen/Householder /usr/include/eigen3/Eigen/IterativeLinearSolvers /usr/include/eigen3/Eigen/Jacobi /usr/include/eigen3/Eigen/LU /usr/include/eigen3/Eigen/MetisSupport /usr/include/eigen3/Eigen/OrderingMethods /usr/include/eigen3/Eigen/PaStiXSupport /usr/include/eigen3/Eigen/PardisoSupport /usr/include/eigen3/Eigen/QR /usr/include/eigen3/Eigen/QtAlignedMalloc /usr/include/eigen3/Eigen/SPQRSupport /usr/include/eigen3/Eigen/SVD /usr/include/eigen3/Eigen/Sparse /usr/include/eigen3/Eigen/SparseCholesky /usr/include/eigen3/Eigen/SparseCore /usr/include/eigen3/Eigen/SparseLU /usr/include/eigen3/Eigen/SparseQR /usr/include/eigen3/Eigen/StdDeque /usr/include/eigen3/Eigen/StdList /usr/include/eigen3/Eigen/StdVector /usr/include/eigen3/Eigen/SuperLUSupport /usr/include/eigen3/Eigen/UmfPackSupport /usr/include/eigen3/Eigen/src /usr/include/eigen3/Eigen/src/Cholesky /usr/include/eigen3/Eigen/src/CholmodSupport /usr/include/eigen3/Eigen/src/Core /usr/include/eigen3/Eigen/src/Eigenvalues /usr/include/eigen3/Eigen/src/Geometry /usr/include/eigen3/Eigen/src/Householder /usr/include/eigen3/Eigen/src/IterativeLinearSolvers /usr/include/eigen3/Eigen/src/Jacobi /usr/include/eigen3/Eigen/src/LU /usr/include/eigen3/Eigen/src/MetisSupport /usr/include/eigen3/Eigen/src/OrderingMethods /usr/include/eigen3/Eigen/src/PaStiXSupport /usr/include/eigen3/Eigen/src/PardisoSupport /usr/include/eigen3/Eigen/src/QR /usr/include/eigen3/Eigen/src/SPQRSupport /usr/include/eigen3/Eigen/src/SVD /usr/include/eigen3/Eigen/src/SparseCholesky /usr/include/eigen3/Eigen/src/SparseCore /usr/include/eigen3/Eigen/src/SparseLU /usr/include/eigen3/Eigen/src/SparseQR /usr/include/eigen3/Eigen/src/StlSupport /usr/include/eigen3/Eigen/src/SuperLUSupport /usr/include/eigen3/Eigen/src/UmfPackSupport /usr/include/eigen3/Eigen/src/misc /usr/include/eigen3/Eigen/src/plugins /usr/include/eigen3/Eigen/src/Cholesky/LDLT.h /usr/include/eigen3/Eigen/src/Cholesky/LLT.h /usr/include/eigen3/Eigen/src/Cholesky/LLT_LAPACKE.h /usr/include/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h /usr/include/eigen3/Eigen/src/Core/Array.h /usr/include/eigen3/Eigen/src/Core/ArrayBase.h /usr/include/eigen3/Eigen/src/Core/ArrayWrapper.h /usr/include/eigen3/Eigen/src/Core/Assign.h /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h /usr/include/eigen3/Eigen/src/Core/Assign_MKL.h /usr/include/eigen3/Eigen/src/Core/BandMatrix.h /usr/include/eigen3/Eigen/src/Core/Block.h /usr/include/eigen3/Eigen/src/Core/BooleanRedux.h /usr/include/eigen3/Eigen/src/Core/CommaInitializer.h /usr/include/eigen3/Eigen/src/Core/ConditionEstimator.h /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h /usr/include/eigen3/Eigen/src/Core/CoreIterators.h /usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h /usr/include/eigen3/Eigen/src/Core/CwiseTernaryOp.h /usr/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h /usr/include/eigen3/Eigen/src/Core/CwiseUnaryView.h /usr/include/eigen3/Eigen/src/Core/DenseBase.h /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h /usr/include/eigen3/Eigen/src/Core/DenseStorage.h /usr/include/eigen3/Eigen/src/Core/Diagonal.h /usr/include/eigen3/Eigen/src/Core/DiagonalMatrix.h /usr/include/eigen3/Eigen/src/Core/DiagonalProduct.h /usr/include/eigen3/Eigen/src/Core/Dot.h /usr/include/eigen3/Eigen/src/Core/EigenBase.h /usr/include/eigen3/Eigen/src/Core/ForceAlignedAccess.h /usr/include/eigen3/Eigen/src/Core/Fuzzy.h /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h /usr/include/eigen3/Eigen/src/Core/GlobalFunctions.h /usr/include/eigen3/Eigen/src/Core/IO.h /usr/include/eigen3/Eigen/src/Core/Inverse.h /usr/include/eigen3/Eigen/src/Core/Map.h /usr/include/eigen3/Eigen/src/Core/MapBase.h /usr/include/eigen3/Eigen/src/Core/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/MathFunctionsImpl.h /usr/include/eigen3/Eigen/src/Core/Matrix.h /usr/include/eigen3/Eigen/src/Core/MatrixBase.h /usr/include/eigen3/Eigen/src/Core/NestByValue.h /usr/include/eigen3/Eigen/src/Core/NoAlias.h /usr/include/eigen3/Eigen/src/Core/NumTraits.h /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h /usr/include/eigen3/Eigen/src/Core/Product.h /usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h /usr/include/eigen3/Eigen/src/Core/Random.h /usr/include/eigen3/Eigen/src/Core/Redux.h /usr/include/eigen3/Eigen/src/Core/Ref.h /usr/include/eigen3/Eigen/src/Core/Replicate.h /usr/include/eigen3/Eigen/src/Core/ReturnByValue.h /usr/include/eigen3/Eigen/src/Core/Reverse.h /usr/include/eigen3/Eigen/src/Core/Select.h /usr/include/eigen3/Eigen/src/Core/SelfAdjointView.h /usr/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h /usr/include/eigen3/Eigen/src/Core/Solve.h /usr/include/eigen3/Eigen/src/Core/SolveTriangular.h /usr/include/eigen3/Eigen/src/Core/SolverBase.h /usr/include/eigen3/Eigen/src/Core/StableNorm.h /usr/include/eigen3/Eigen/src/Core/Stride.h /usr/include/eigen3/Eigen/src/Core/Swap.h /usr/include/eigen3/Eigen/src/Core/Transpose.h /usr/include/eigen3/Eigen/src/Core/Transpositions.h /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h /usr/include/eigen3/Eigen/src/Core/VectorBlock.h /usr/include/eigen3/Eigen/src/Core/VectorwiseOp.h /usr/include/eigen3/Eigen/src/Core/Visitor.h /usr/include/eigen3/Eigen/src/Core/arch /usr/include/eigen3/Eigen/src/Core/functors /usr/include/eigen3/Eigen/src/Core/products /usr/include/eigen3/Eigen/src/Core/util /usr/include/eigen3/Eigen/src/Core/arch/AVX /usr/include/eigen3/Eigen/src/Core/arch/AVX512 /usr/include/eigen3/Eigen/src/Core/arch/AltiVec /usr/include/eigen3/Eigen/src/Core/arch/CUDA /usr/include/eigen3/Eigen/src/Core/arch/Default /usr/include/eigen3/Eigen/src/Core/arch/NEON /usr/include/eigen3/Eigen/src/Core/arch/SSE /usr/include/eigen3/Eigen/src/Core/arch/ZVector /usr/include/eigen3/Eigen/src/Core/arch/AVX/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/AVX/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/AVX/TypeCasting.h /usr/include/eigen3/Eigen/src/Core/arch/AVX512/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/AVX512/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/AltiVec/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/AltiVec/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/Half.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMathHalf.h /usr/include/eigen3/Eigen/src/Core/arch/CUDA/TypeCasting.h /usr/include/eigen3/Eigen/src/Core/arch/Default/ConjHelper.h /usr/include/eigen3/Eigen/src/Core/arch/Default/Settings.h /usr/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h /usr/include/eigen3/Eigen/src/Core/arch/SSE/TypeCasting.h /usr/include/eigen3/Eigen/src/Core/arch/ZVector/Complex.h /usr/include/eigen3/Eigen/src/Core/arch/ZVector/MathFunctions.h /usr/include/eigen3/Eigen/src/Core/arch/ZVector/PacketMath.h /usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h /usr/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h /usr/include/eigen3/Eigen/src/Core/functors/NullaryFunctors.h /usr/include/eigen3/Eigen/src/Core/functors/StlFunctors.h /usr/include/eigen3/Eigen/src/Core/functors/TernaryFunctors.h /usr/include/eigen3/Eigen/src/Core/functors/UnaryFunctors.h /usr/include/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h 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/usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h /usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h /usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h /usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h /usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h /usr/local/include/eigen3/unsupported/Eigen/src/MatrixFunctions/StemFunction.h /usr/local/include/eigen3/unsupported/Eigen/src/MoreVectorization/MathFunctions.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/chkder.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/covar.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/dogleg.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/lmpar.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/r1updt.h /usr/local/include/eigen3/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h /usr/local/include/eigen3/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h /usr/local/include/eigen3/unsupported/Eigen/src/Polynomials/Companion.h /usr/local/include/eigen3/unsupported/Eigen/src/Polynomials/PolynomialSolver.h /usr/local/include/eigen3/unsupported/Eigen/src/Polynomials/PolynomialUtils.h /usr/local/include/eigen3/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h /usr/local/include/eigen3/unsupported/Eigen/src/Skyline/SkylineMatrix.h 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/usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsPacketMath.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/HipVectorCompatibility.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsArrayAPI.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsFunctors.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsPacketMath.h /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/arch /usr/local/include/eigen3/unsupported/Eigen/src/SpecialFunctions/arch/GPU 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[Zhongwei-Luo]

it seems i both have eigen3 in /usr/local/include/eigen3 and /usr/include/eigen3

[Zhongwei-Luo]

i found [#define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 3 #define EIGEN_MINOR_VERSION 4 ] in /usr/local/include/eigen_333/Eigen/src/Core/util/Macros.h

and 【 #define EIGEN_WORLD_VERSION 3 #define EIGEN_MAJOR_VERSION 3 #define EIGEN_MINOR_VERSION 4】 in /usr/include/eigen3/Eigen/src/Core/util/Macros.h

[alexmillane]

/home/lzw/3d_lib/eigen-master

This makes me think that you have a copy of eigen's master branch built and installed on your system. The versions you have in /usr/local/include and /usr/include should both be fine. The issue is /home/lzw/3d_lib/eigen-master

For now you could alter the CMakefile to force cmake to take one of your 3.3.4 versions.

But I think that we should probably remove the typedef in cblox. It doesn't make sense to be clashing with future versions of Eigen. I will only have time to look at this later in the week, however.

Do you agree @victorreijgwart?

[Zhongwei-Luo]

/home/lzw/3d_lib/eigen-master

This makes me think that you have a copy of eigen's master branch built and installed on your system. The versions you have in /usr/local/include and /usr/include should both be fine. The issue is /home/lzw/3d_lib/eigen-master

For now you could alter the CMakefile to force cmake to take one of your 3.3.4 versions.

But I think that we should probably remove the typedef in cblox. It doesn't make sense to be clashing with future versions of Eigen. I will only have time to look at this later in the week, however.

Do you agree @victorreijgwart?

1)hi，the /home/lzw/3d_lib/eigen-master is include the src file of eigen, i use them to build from source and installed on my system

2)btw: could you teach me how to do with【alter the CMakefile to force cmake to take one of your 3.3.4 versions.】？ I am new player with cmake ：）

3)if remove typedef in cblox, and then [catkin build voxgraph] will get:

Errors << cblox:make /home/lzw/resplendent_code/SLAM/vox_ws/logs/cblox/build.make.000.log /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp: In static member function ‘static cblox::TsdfSubmap::Ptr cblox::TsdfSubmap::LoadFromStream(const Config&, std::fstream*, uint64_t*)’: /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:73:18: error: missing template arguments before ‘t’ Eigen::Vector3 t = T_M_S.getPosition(); ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:75:24: error: ‘t’ was not declared in this scope LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:75:24: note: suggested alternative: ‘tm’ LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ tm /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp: In static member function ‘static cblox::TsdfEsdfSubmap::Ptr cblox::TsdfEsdfSubmap::LoadFromStream(const cblox::TsdfEsdfSubmap::Config&, std::fstream*, uint64_t*)’: /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:70:18: error: missing template arguments before ‘t’ Eigen::Vector3 t = T_M_S.getPosition(); ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:72:24: error: ‘t’ was not declared in this scope LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:72:24: note: suggested alternative: ‘tm’ LOG(INFO) << "[ " << t.x() << ", " << t.y() << ", " << t.z() << ", " << q.w() ^ tm

4. and then i chang /core/tsdf_submap.cpp [ Eigen::Vector3 t = T_M_S.getPosition(); ] in to [Eigen::Vector3 kindr::minimal::Position t = T_M_S.getPosition();] ,and then catkin build voxgraph ,will get

In file included from /usr/local/include/eigen3/Eigen/Core:153:0, from /usr/local/include/eigen3/Eigen/Geometry:11, from /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/include/cblox/core/tsdf_submap.h:7, from /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:1: /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>; Src = Eigen::Matrix<float, 3, 1>; Func = Eigen::internal::assign_op<Eigen::Matrix<double, 3, 1>, float>]’: /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:797:41: required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>]’ /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:602:19: required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>]’ /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:423:29: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; _Scalar = Eigen::Matrix<double, 3, 1>; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_submap.cpp:73:66: required from here /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:860:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp: In function ‘void cblox::conversions::transformKindrToProto(const Transformation&, cblox::QuatTransformationProto*)’: /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp:9:18: error: missing template arguments before ‘t’ Eigen::Vector3 t = transformation.getPosition(); ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp:11:37: error: ‘t’ was not declared in this scope quat_transformation_proto->set_tx(t.x()); ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp: In function ‘void cblox::conversions::transformProtoToKindr(const cblox::QuatTransformationProto&, cblox::Transformation*)’: /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp:24:18: error: missing template arguments before ‘t’ Eigen::Vector3 t(quat_transformation_proto.tx(), ^ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/utils/quat_transformation_protobuf_utils.cpp:29:39: error: ‘t’ was not declared in this scope *transformation = Transformation(q, t); ^ make[2]: *** [CMakeFiles/cblox_lib.dir/src/core/tsdf_submap.cpp.o] Error 1 make[2]: *** 正在等待未完成的任务.... In file included from /usr/local/include/eigen3/Eigen/Core:153:0, from /home/lzw/resplendent_code/SLAM/vox_ws/src/voxblox/voxblox/include/voxblox/integrator/esdf_integrator.h:10, from /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/include/cblox/core/tsdf_esdf_submap.h:6, from /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:1: /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>; Src = Eigen::Matrix<float, 3, 1>; Func = Eigen::internal::assign_op<Eigen::Matrix<double, 3, 1>, float>]’: /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:797:41: required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>]’ /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:602:19: required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::Matrix<Eigen::Matrix<double, 3, 1>, 3, 1, 0, 3, 1>]’ /usr/local/include/eigen3/Eigen/src/Core/Matrix.h:423:29: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<float, 3, 1>; _Scalar = Eigen::Matrix<double, 3, 1>; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’ /home/lzw/resplendent_code/SLAM/vox_ws/src/cblox/cblox/src/core/tsdf_esdf_submap.cpp:70:66: required from here /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h:860:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); ^ make[2]: *** [CMakeFiles/cblox_lib.dir/src/core/tsdf_esdf_submap.cpp.o] Error 1 make[2]: *** [CMakeFiles/cblox_lib.dir/src/utils/quat_transformation_protobuf_utils.cpp.o] Error 1 make[1]: *** [CMakeFiles/cblox_lib.dir/all] Error 2 make: *** [all] Error 2

[MY-CODE-1981]

I had the same error, I needed to find where eigen3 was installed in locale eigen3, after removing it with sudo make uninstall. I was able to get catkin build panoptic_mapping_utils to complete successfully.

[hamdaan19]

@resplendent-star The way to ensure that you can force Cmake to build with a specific version of eigen (i.e. 3.3.4) is by modifying the following line of code in eigen_catkin/CMakeLists.txt

find_package(Eigen3 QUIET)

to

find_package(Eigen3 3.3.4 EXACT)

Hope this helps.