auralius / kalman-cpp Goto Github PK

How can I integrate your project in a cmake project? I have linking errors

Friend, I try to run your project but I have errors.
I installed all the necessary packages: ATLAS, ARPACK, LAPACK, BLAS and ARMADILLO.
Which versions do you use?

ERROR:
joahannes@Joahannes:~/Downloads/kalman-cpp-master$ g++ main5.cpp -o test -O2 -larmadillo ekf.cpp
/tmp/ccAJNHBr.o: na função void arma::glue_times_redirect2_helper<false>::apply<arma::Mat<double>, arma::Col<double> >(arma::Mat<arma::Mat<double>::elem_type>&, arma::Glue<arma::Mat<double>, arma::Col<double>, arma::glue_times> const&)': ekf.cpp:(.text.hot._ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE[_ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE]+0x12c): referência indefinida para wrapper_dgemv_'
ekf.cpp:(.text.hot.ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE[ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE]+0x2f3): referência indefinida para wrapper_dgemv_' ekf.cpp:(.text.hot._ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE[_ZN4arma27glue_times_redirect2_helperILb0EE5applyINS_3MatIdEENS_3ColIdEEEEvRNS3_INT_9elem_typeEEERKNS_4GlueIS7_T0_NS_10glue_timesEEE]+0x807): referência indefinida para wrapper_dgemv'
/tmp/ccAJNHBr.o: na função void arma::glue_times::apply<double, false, false, false, arma::Mat<double>, arma::Mat<double> >(arma::Mat<double>&, arma::Mat<double> const&, arma::Mat<double> const&, double)': ekf.cpp:(.text.hot._ZN4arma10glue_times5applyIdLb0ELb0ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4_[_ZN4arma10glue_times5applyIdLb0ELb0ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4_]+0x286): referência indefinida para wrapper_dgemm'
ekf.cpp:(.text.hot.ZN4arma10glue_times5applyIdLb0ELb0ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4[ZN4arma10glue_times5applyIdLb0ELb0ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4]+0x4be): referência indefinida para wrapper_dgemv_' /tmp/ccAJNHBr.o: na função arma::arma_real_only::result arma::op_dot::direct_dot(unsigned int, double const*, double const*)':
ekf.cpp:(.text.hot.ZN4arma6op_dot10direct_dotIdEENS_14arma_real_onlyIT_E6resultEjPKS3_S7[ZN4arma6op_dot10direct_dotIdEENS_14arma_real_onlyIT_E6resultEjPKS3_S7]+0xca): referência indefinida para wrapper_ddot_' /tmp/ccAJNHBr.o: na função void arma::glue_times::apply<double, false, true, false, arma::Mat, arma::Mat >(arma::Mat&, arma::Mat const&, arma::Mat const&, double)':
ekf.cpp:(.text.hot.ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4[ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4]+0x298): referência indefinida para wrapper_dgemm_' ekf.cpp:(.text.hot._ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4_[_ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4_]+0x52d): referência indefinida para wrapper_dgemv_'
ekf.cpp:(.text.hot.ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4[ZN4arma10glue_times5applyIdLb0ELb1ELb0ENS_3MatIdEES3_EEvRNS2_IT_EERKT3_RKT4_S4]+0x63f): referência indefinida para wrapper_dsyrk_' /tmp/ccAJNHBr.o: na função void arma::glue_times::apply<double, false, true, false, false, arma::Mat, arma::Mat, arma::Mat >(arma::Mat&, arma::Mat const&, arma::Mat const&, arma::Mat const&, double)':
ekf.cpp:(.text.hot.ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4[ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4]+0x2a1): referência indefinida para wrapper_dgemm_' ekf.cpp:(.text.hot._ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4_[_ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4_]+0x5cf): referência indefinida para wrapper_dgemv_'
ekf.cpp:(.text.hot.ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4[ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4]+0x689): referência indefinida para wrapper_dgemv_' ekf.cpp:(.text.hot._ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4_[_ZN4arma10glue_times5applyIdLb0ELb1ELb0ELb0ENS_3MatIdEES3_S3_EEvRNS2_IT_EERKT4_RKT5_RKT6_S4_]+0x72c): referência indefinida para wrapper_dsyrk_'
/tmp/ccAJNHBr.o: na função void arma::glue_times_redirect3_helper<false>::apply<arma::Mat<double>, arma::Op<arma::Mat<double>, arma::op_htrans>, arma::Op<arma::eGlue<arma::Glue<arma::Glue<arma::Mat<double>, arma::Mat<double>, arma::glue_times>, arma::Op<arma::Mat<double>, arma::op_htrans>, arma::glue_times>, arma::Mat<double>, arma::eglue_plus>, arma::op_inv> >(arma::Mat<arma::Mat<double>::elem_type>&, arma::Glue<arma::Glue<arma::Mat<double>, arma::Op<arma::Mat<double>, arma::op_htrans>, arma::glue_times>, arma::Op<arma::eGlue<arma::Glue<arma::Glue<arma::Mat<double>, arma::Mat<double>, arma::glue_times>, arma::Op<arma::Mat<double>, arma::op_htrans>, arma::glue_times>, arma::Mat<double>, arma::eglue_plus>, arma::op_inv>, arma::glue_times> const&)': ekf.cpp:(.text.hot._ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE[_ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE]+0x38f): referência indefinida para wrapper_dgetri_'
ekf.cpp:(.text.hot._ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE[ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE]+0x5a3): referência indefinida para wrapper_dgetrf_' ekf.cpp:(.text.hot._ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE[_ZN4arma27glue_times_redirect3_helperILb0EE5applyINS_3MatIdEENS_2OpIS4_NS_9op_htransEEENS5_INS_5eGlueINS_4GlueINS9_IS4_S4_NS_10glue_timesEEES7_SA_EES4_NS_10eglue_plusEEENS_6op_invEEEEEvRNS3_INT_9elem_typeEEERKNS9_INS9_ISH_T0_SA_EET1_SA_EE]+0x963): referência indefinida para wrapper_dgetri'
collect2: error: ld returned 1 exit status

Hi @auralius,

Thanks for this library. Trying to some prototyping work with this. I am new to both Armadillo and C++ so I have a question.

For this line, why is H a 4x2 matrix? Shouldn't it be 2x4 given that your X is 4x1?

Let me know if I missed anything obvious.

While trying to use the library with larger matrices I ran into this error:

I've tried replacing the armadillo dependency with a system installed version, tried modifying the armadillo config.hpp header with #define ARMA_USE_LAPACK - but no matter what I try the error keeps happening. Have you ran into this issue before? Any suggestions?

p.s. I am by no means a cpp expert so I apologise if it turns out that this has nothing to do with your library.

lapack and blas have additional dependencies on DLLs that were not installed on my system. I solved by going to:
https://www.intel.com/content/www/us/en/developer/articles/tool/compilers-redistributable-libraries-by-version.html
and downloading "Intel® Fortran Compiler Runtime for Windows* and running the installed. It might save future programmers a few minutes by documenting this dependency.

=======
C:\Downloads\kalman-cpp-master\bin>dumpbin /dependents cbia.lib.lapack.dyn.rel.x64.12.dll
Microsoft (R) COFF/PE Dumper Version 14.26.28806.0
Copyright (C) Microsoft Corporation. All rights reserved.

Dump of file cbia.lib.lapack.dyn.rel.x64.12.dll

File Type: DLL

Image has the following dependencies:

cbia.lib.blas.dyn.rel.x64.12.dll
**libifcoremd.dll**
**libmmd.dll**
MSVCR120.dll
**svml_dispmd.dll**
KERNEL32.dll

Yes, they are different!

The Visual Studio projects (vs2019/ folder) compiled the examples fine for Windows, but if you want to use VSCode and CMake instead, there are some changes needed: include link_directories to libs, add path for header files, remove armadillo lib link and add blas, lapack libs to link :

cmake_minimum_required(VERSION 2.6)

project(kalman-cpp)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ../bin)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ../bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ../bin)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

set(CMAKE_BUILD_TYPE Debug)

link_directories(${CMAKE_SOURCE_DIR}/windows-libs)
add_library (kalman-cpp ./kalman/kf.cpp ./kalman/ekf.cpp ./kalman/ekf2.cpp ./kalman/ukf.cpp ./kalman/fx.cpp)

target_include_directories (kalman-cpp PUBLIC ./kalman ./windows-libs/armadillo/include)

add_executable(demo1 ./samples/main1.cpp)
add_executable(demo2 ./samples/main2.cpp)
add_executable(demo3 ./samples/main3.cpp)
add_executable(demo4 ./samples/main4.cpp)
add_executable(demo5 ./samples/main5.cpp)
add_executable(demo6 ./samples/main6.cpp)
add_executable(demo7 ./samples/main7.cpp)
add_executable(demo8 ./samples/main8.cpp)
add_executable(demo9 ./samples/main9.cpp)
add_executable(demo10 ./samples/main10.cpp)
add_executable(demo11 ./samples/main11.cpp)

install(TARGETS demo1 RUNTIME DESTINATION ../bin)
install(TARGETS demo2 RUNTIME DESTINATION ../bin)
install(TARGETS demo3 RUNTIME DESTINATION ../bin)
install(TARGETS demo4 RUNTIME DESTINATION ../bin)
install(TARGETS demo5 RUNTIME DESTINATION ../bin)
install(TARGETS demo6 RUNTIME DESTINATION ../bin)
install(TARGETS demo7 RUNTIME DESTINATION ../bin)
install(TARGETS demo8 RUNTIME DESTINATION ../bin)
install(TARGETS demo9 RUNTIME DESTINATION ../bin)
install(TARGETS demo10 RUNTIME DESTINATION ../bin)
install(TARGETS demo11 RUNTIME DESTINATION ../bin)

target_link_libraries (demo1 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo2 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo3 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo4 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo5 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo6 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo7 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo8 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo9 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo10 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)
target_link_libraries (demo11 LINK_PUBLIC kalman-cpp cbia.lib.lapack.dyn.rel.x64.12 cbia.lib.blas.dyn.rel.x64.12)

Since the blas, lapack dlls are in bin, i changed my VSCode launch configuration like this:
{
"version": "0.2.0",
"configurations": [
{
"name": "(Windows) Launch",
"type": "cppvsdbg",
"request": "launch",
"program": "${workspaceFolder}/bin/debug/demo1.exe",
"args": [],
"stopAtEntry": false,
"cwd": "${workspaceFolder}/bin/",
"environment": [],
"console": "externalTerminal"
}

]

}