jinxer000/gie-mapping

GPU-accelerated Incremental Euclidean Distance Transform for Online Motion Planning of Mobile Robots

gie-mapping's Issues

An error may caused by PCL version difference when 'catkin_make'

The error message is exceptionally long but basically, it repeats like this:

In file included from /usr/include/pcl-1.10/pcl/point_types.h:44,
                 from /usr/include/pcl-1.10/pcl/common/impl/copy_point.hpp:41,
                 from /usr/include/pcl-1.10/pcl/common/copy_point.h:58,
                 from /usr/include/pcl-1.10/pcl/common/impl/io.hpp:45,
                 from /usr/include/pcl-1.10/pcl/common/io.h:586,
                 from /usr/include/pcl-1.10/pcl/io/file_io.h:41,
                 from /usr/include/pcl-1.10/pcl/io/pcd_io.h:44,
                 from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:70,
                 from /home/haostarrr/GIE_ws/src/GIE-mapping/include/volumetric_mapper.h:16,
                 from /home/haostarrr/GIE_ws/src/GIE-mapping/src/volumetric_mapper.cpp:3:
/usr/include/pcl-1.10/pcl/point_types.h: In function ‘const pcl::IntensityGradient& pcl::common::operator+=(pcl::IntensityGradient&, const float&)’:
/usr/include/pcl-1.10/pcl/point_types.h:665:1: error: ‘plusscalar’ is not a member of ‘pcl::traits’
  665 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::IntensityGradient,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

or

/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation<PointDefault>::NdCopyPointFunctor::operator()() [with Key = pcl::fields::alpha_m; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   recursively required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92:   required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40:   required from ‘void pcl::DefaultFeatureRepresentation<PointDefault>::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7:   required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
  251 |         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
      |                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
  252 |         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~

So I think some version change of PCL library may cause it.
From sudo apt install libpcl-dev, I can see my version is libpcl-dev (1.10.0+dfsg-5ubuntu1).

I am thinking if you are using the same version.

My system is ubuntu 20.04.

No visualization on Ubuntu 20

Hello! Thanks a lot for your great work.
I tried installing this project on Ubuntu 20.0.4 with ros noetic and met no problems with building the code. However when I tried to play rosbag, it failed to display proper visualization of the map built (yet robot movement could be seen). I tried on an old computer with Ubuntu 18 and ros melodic, and it worked out pretty good. I did see that you have mentioned that test passed on Ubuntu 16 and 18, and I am wondering why it doesn't work on Ubuntu 20?