catkin_make failing due to static_assert in Eigen

[ShreyasManjunath]

Hi,
Thank you for the development.
I am trying to compile openvins on ubuntu 18.04 but encountering the following error.

/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: note: in definition of macro ‘EIGEN_STATIC_ASSERT’
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Core/Dot.h:74:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_VECTOR_ONLY’
EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
^
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_TRIED_CALLING_A_VECTOR_METHOD_ON_A_MATRIX
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: note: in definition of macro ‘EIGEN_STATIC_ASSERT’
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^~~~~~~~~~~~~
/usr/local/include/eigen3/Eigen/src/Core/Dot.h:75:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT_VECTOR_ONLY’
EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)

This error pops out due to a line in RosVisualizer.cpp in ov_msckf pkg.
Line 667
double ori_nees = 2*quat_diff.block(0,0,3,1).dot(covariance.block(0,0,3,3).inverse()*2*quat_diff.block(0,0,3,1));

Seems like Eigen::Matrix<double,4,1> quat_gt, quat_st, quat_diff; quat_diff is indeed a Matrix.

Does anyone had similar experience?
Thank you

Shreyas

[goldbattle]

What version of Eigen3 are you linking against?

[ShreyasManjunath]

Hi,

I use Eigen3 3.3.9 (Newest).

Regards,

Shreyas

[goldbattle]

Were you able to address this issue?

[ShreyasManjunath]

Hi,

Yes. Seems like open_vins is not compiling for Eigen 3.3.9.
I switched to Eigen 3.3.4 and was able to compile it.

Btw. Do you have any separate branch for OpenCV 4 support?

Thank you once again.

Shreyas Manjunath

[goldbattle]

You can try out #117 as it should support v4.
Post in that PR if you run into any issues using the newer opencv (it should default to 4 if you have 3 and 4).

[hellovuong]

I fixed the error use dot() method for matrix quat_diff in Eigen 3.3.9, I change line 615, from:
double ori_nees = 2 * quat_diff.block(0, 0, 3, 1).dot(covariance.block(0, 0, 3, 3).inverse() * 2 * quat_diff.block(0, 0, 3, 1));
to:
Eigen::Vector4d temp_vec = covariance.block(0, 0, 3, 3).inverse() * 2 * quat_diff.block(0, 0, 3, 1);
double ori_nees = 2 * quat_diff.adjoint()*temp_vec;
By instruction about Dot product in Eigen page

[goldbattle]

PR #226 should address Eigen issue for newer versions.