build with pcl 1.8.1 failure about cpu_tsdf

[GITSHOHOKU]

Eigen::Array3f upper_boundary_;
  Eigen::Array3f lower_boundary_;
  Eigen::Array3f size_voxel_;

adding code above to cpu_tsdf::MarchingCubesTSDFOctree::setInputTSDF which is the first function in marching_cubes_tsdf_octree.cpp can solve this problem. hope this can help you

[0dmf0]

when I try build the code, the follow error occur:

mkdir build && cd build && cmake .. && make -j8
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Checking for module 'eigen3'
-- Found eigen3, version 3.3.4
-- Found eigen: /usr/include/eigen3
-- Checking for module 'libopenni'
-- Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so
-- Found libusb-1.0: /usr/include
-- Checking for module 'flann'
-- Found flann, version 1.9.1
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- Found PCL_2D: /usr/include/pcl-1.8
-- Found PCL_GEOMETRY: /usr/include/pcl-1.8
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.8
-- Found PCL_MODELER: /usr/include/pcl-1.8
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.8
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- program_options
-- Configuring done
-- Generating done
-- Build files have been written to: /home/xlla/git/cpu_tsdf/build
Scanning dependencies of target get_intrinsics
Scanning dependencies of target cpu_tsdf
[ 9%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/octree.cpp.o
[ 18%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o
[ 27%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/tsdf_interface.cpp.o
[ 36%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/tsdf_volume_octree.cpp.o
[ 45%] Building CXX object CMakeFiles/get_intrinsics.dir/src/prog/get_intrinsics.cpp.o
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp: In member function ‘void cpu_tsdf::MarchingCubesTSDFOctree::setInputTSDF(cpu_tsdf::TSDFVolumeOctree::ConstPtr)’:
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:3: error: ‘size_voxel_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:3: note: suggested alternative: ‘size_x’
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~
size_x
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:18: error: ‘upper_boundary_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~~~~~
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:36: error: ‘lower_boundary_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~~~~~
In file included from /home/xlla/git/cpu_tsdf/src/prog/get_intrinsics.cpp:42:0:
/usr/include/pcl-1.8/pcl/visualization/cloud_viewer.h:202:14: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<CloudViewer_impl> impl_;
^~~~~~~~
In file included from /usr/include/c++/7/memory:80:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/smart_ptr/shared_ptr.hpp:23,
from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/pcl-1.8/pcl/correspondence.h:45,
from /usr/include/pcl-1.8/pcl/visualization/pcl_visualizer.h:42,
from /usr/include/pcl-1.8/pcl/visualization/cloud_viewer.h:39,
from /home/xlla/git/cpu_tsdf/src/prog/get_intrinsics.cpp:42:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
CMakeFiles/cpu_tsdf.dir/build.make:134: recipe for target 'CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o' failed
make[2]: *** [CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/cpu_tsdf.dir/all' failed
make[1]: *** [CMakeFiles/cpu_tsdf.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 54%] Linking CXX executable get_intrinsics
[ 54%] Built target get_intrinsics
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

if I comment that line, ... size_voxel_ ..., then it built.

Do you solve this now? I also meet with this question

[sumr4693]

when I try build the code, the follow error occur:
mkdir build && cd build && cmake .. && make -j8
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Checking for module 'eigen3'
-- Found eigen3, version 3.3.4
-- Found eigen: /usr/include/eigen3
-- Checking for module 'libopenni'
-- Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so
-- Found libusb-1.0: /usr/include
-- Checking for module 'flann'
-- Found flann, version 1.9.1
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- Found PCL_2D: /usr/include/pcl-1.8
-- Found PCL_GEOMETRY: /usr/include/pcl-1.8
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.8
-- Found PCL_MODELER: /usr/include/pcl-1.8
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.8
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- program_options
-- Configuring done
-- Generating done
-- Build files have been written to: /home/xlla/git/cpu_tsdf/build
Scanning dependencies of target get_intrinsics
Scanning dependencies of target cpu_tsdf
[ 9%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/octree.cpp.o
[ 18%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o
[ 27%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/tsdf_interface.cpp.o
[ 36%] Building CXX object CMakeFiles/cpu_tsdf.dir/src/lib/tsdf_volume_octree.cpp.o
[ 45%] Building CXX object CMakeFiles/get_intrinsics.dir/src/prog/get_intrinsics.cpp.o
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp: In member function ‘void cpu_tsdf::MarchingCubesTSDFOctree::setInputTSDF(cpu_tsdf::TSDFVolumeOctree::ConstPtr)’:
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:3: error: ‘size_voxel_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:3: note: suggested alternative: ‘size_x’
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~
size_x
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:18: error: ‘upper_boundary_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~~~~~
/home/xlla/git/cpu_tsdf/src/lib/marching_cubes_tsdf_octree.cpp:82:36: error: ‘lower_boundary_’ was not declared in this scope
size_voxel_ = (upper_boundary_ - lower_boundary_)* Eigen::Array3f(res_x_, res_y_, res_z_).inverse();
^~~~~~~~~~~~~~~
In file included from /home/xlla/git/cpu_tsdf/src/prog/get_intrinsics.cpp:42:0:
/usr/include/pcl-1.8/pcl/visualization/cloud_viewer.h:202:14: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<CloudViewer_impl> impl_;
^~~~~~~~
In file included from /usr/include/c++/7/memory:80:0,
from /usr/include/boost/config/no_tr1/memory.hpp:21,
from /usr/include/boost/smart_ptr/shared_ptr.hpp:23,
from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/pcl-1.8/pcl/correspondence.h:45,
from /usr/include/pcl-1.8/pcl/visualization/pcl_visualizer.h:42,
from /usr/include/pcl-1.8/pcl/visualization/cloud_viewer.h:39,
from /home/xlla/git/cpu_tsdf/src/prog/get_intrinsics.cpp:42:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
CMakeFiles/cpu_tsdf.dir/build.make:134: recipe for target 'CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o' failed
make[2]: *** [CMakeFiles/cpu_tsdf.dir/src/lib/marching_cubes_tsdf_octree.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/cpu_tsdf.dir/all' failed
make[1]: *** [CMakeFiles/cpu_tsdf.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 54%] Linking CXX executable get_intrinsics
[ 54%] Built target get_intrinsics
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2
if I comment that line, ... size_voxel_ ..., then it built.

Do you solve this now? I also meet with this question

I just commented that line, and I could build the code without any problem.

[HuangTY96]

same question, but if I comment that line, does it affect the whole project?

[sumr4693]

same question, but if I comment that line, does it affect the whole project?

I don't think so.. It worked after that.

[sdmiller]

Once again, I must apologize for taking so long to respond to this! I've built this project against PCL 1.10 - 1.13 and it has worked fine with no modifications.

I'm afraid I'm no longer able to compile PCL 1.8 to test this fix, as it relies on a fairly ancient version of boost. For now, I'm upping the dependency to 1.10: but if you or anyone else are willing to support 1.8 or 1.9, I'm happy to follow your lead.