wvu-navlab / ppp-bayestree Goto Github PK

I run the last command：./../build/examples/pppBayesTree -c phastball.conf
it shows：
Using threads for all processors
pppBayesTree: /home/User/WORK/Factor Graph/GNSS/PPP-BayesTree/PPP-BayesTree-trunk/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h:142: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index) [with XprType = Eigen::Matrix<double, -1, -1>; int BlockRows = -1; int BlockCols = -1; bool InnerPanel = false; Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index = long int]: Assertion `a_startRow >= 0 && blockRows >= 0 && a_startRow <= xpr.rows() - blockRows && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols' failed.

How to fix it？

Hi, I want to run the repository on Ubuntu18.04, However, there is something wrong at the make step.

It shows as follows:
gtsam/CMakeFiles/gtsam.dir/build.make:158: recipe for target 'gtsam/CMakeFiles/gtsam.dir/base/Matrix.cpp.o' failed
make[2]: *** [gtsam/CMakeFiles/gtsam.dir/base/Matrix.cpp.o] Error 1
CMakeFiles/Makefile2:1427: recipe for target 'gtsam/CMakeFiles/gtsam.dir/all' failed
make[1]: *** [gtsam/CMakeFiles/gtsam.dir/all] Error 2
Makefile:162: recipe for target 'all' failed
make: *** [all] Error 2

The cmake output is :
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- thread
-- program_options
-- date_time
-- regex
-- timer
-- chrono
-- atomic
Ignoring Boost restriction on optional lvalue assignment from rvalues
-- Found Intel TBB
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES)
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
if given arguments:

"TRUE"

An argument named "TRUE" appears in a conditional statement. Policy
CMP0012 is not set: if() recognizes numbers and boolean constants. Run
"cmake --help-policy CMP0012" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
CMakeLists.txt:197 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
if given arguments:

"TRUE"

An argument named "TRUE" appears in a conditional statement. Policy
CMP0012 is not set: if() recognizes numbers and boolean constants. Run
"cmake --help-policy CMP0012" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
CMakeLists.txt:197 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Building 3rdparty
-- checking for thread-local storage - found
-- Building base
-- Building geometry
-- Building inference
-- Building symbolic
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building smart
-- Building navigation
-- Building gnssNavigation
-- Building configReader
-- Building robustModels
-- Building gpstk
-- GTSAM Version: 4.0.0
-- Install prefix: /usr/local
-- Building GTSAM - shared
CMake Warning at cmake/GtsamTesting.cmake:229 (message):
The script exclusion pattern
'DiscreteBayesNet_FG.cpp;UGM_chain.cpp;UGM_small.cpp;elaboratePoint2KalmanFilter.cpp'
did not match any files
Call Stack (most recent call first):
cmake/GtsamTesting.cmake:55 (gtsamAddExesGlob_impl)
examples/CMakeLists.txt:8 (gtsamAddExamplesGlob)

-- Wrote /home/PPP-BayesTree/trunk/build/GTSAMConfig.cmake
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
-- ===============================================================
-- ================ Configuration Options ======================
-- CMAKE_CXX_COMPILER_ID type : GNU
-- CMAKE_CXX_COMPILER_VERSION : 7.5.0
-- Build flags
-- Build Tests : Enabled
-- Build examples with 'make all' : Enabled
-- Build timing scripts with 'make all': Disabled
-- Build static GTSAM library instead of shared: Disabled
-- Put build type in library name : Enabled
-- Build type : Release
-- C compilation flags : -std=c11 -Wall
-- C++ compilation flags : -std=c++11 -Wall
-- Use System Eigen : No
-- Use Intel TBB : Yes
-- Eigen will use MKL : MKL not found
-- Eigen will use MKL and OpenMP : OpenMP found but MKL not found
-- Default allocator : TBB
-- Packaging flags
-- CPack Source Generator : TGZ
-- CPack Generator : TGZ
-- GTSAM flags
-- Quaternions as default Rot3 : Disabled
-- Runtime consistency checking : Disabled
-- Rot3 retract is full ExpMap : Disabled
-- Pose3 retract is full ExpMap : Disabled
-- Deprecated in GTSAM 4 allowed : Enabled
-- Point3 is typedef to Vector3 : Disabled
-- Metis-based Nested Dissection : Enabled
-- Use tangent-space preintegration: Enabled
-- MATLAB toolbox flags
-- Install matlab toolbox : Disabled
-- Build Wrap : Enabled
-- Python module flags
-- Build python module : Disabled
-- ===============================================================
CMake Warning at CMakeLists.txt:499 (message):
MKL was not found - this is ok, but note that MKL yields better
performance. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.

-- Configuring done
-- Generating done

Is this because of the different version of Eigen or Ubuntu? Which version should I install?