error when catkin_make for OA-LICalib: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES with regard to eigen-3.3.7

[newerbot]

On Ubuntu 20.04 with ROS-Noetic, libeigen-dev-3.3.7-2, Sophus-1.22.10 (y2022-feb)

$ catkin_make -j1 (trying to build OA-LICalib ROS-package)

[ 11%] Building CXX Object OA-LICalib/CMakeFiles/lib_calib.dir/src/trajectory/trajectory_estimator.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:366,
from /usr/include/ceres/jet.h: 145
from /usr/include/ceres/internal/autodiff.h:145,
from /usr/include/ceres/autodiff_cost_function.h:132,
from /usr/include/ceres/ceres.h:37,
from OA-LICalib-git/include/trajectory/trajectory_estimator.h:26,
from OA-LICalib-git/include/trajectory/trajectory_estimator.cpp:23:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of 'void Eigen::internal::call_assignment(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 4, 3, 1, 4, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Transpose<Eigen::Matrix<double, 4, 3, 0, 4, 3> >; Func = Eigen::internal::assign_op<double, double>]':
...
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804:27 required from 'void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Map<Eigen::Matrix<double, 4, 3, 1, 4, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Transpose<Eigen::Matrix<double, 4, 3, 0, 4, 3> >]'
...
OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp:104:14: required from 'bool bsalt::LieLocalParameterization::ComputeJacobian(const double*, double*) const [with Groupd = Sophus::SO3]'
OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp:98:16: required from here /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:833:3 error: static assertion failed: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES
833 | EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)

make[2]: *** [OA-LICalib/CMakeFiles/lib_calib.dir/build.make:76: OA-LICalib/CMakeFiles/lib_calib.dir/src/trajectory/trajectory_estimator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1059: OA-LICalib/CMakeFiles/lib_calib.dir/all] Error 2
make: *** [Makefile: all] Error 2

[haoxinnihao]

I also have this problem. Did you have solve it?

[yeyanan93]

@haoxinnihao 你好，你解决这个问题了吗？

[haoxinnihao]

换eigen版本就可以啦 白狼王 ***@***.*** &nbsp;

…

------------------&nbsp;原始邮件&nbsp;------------------ 发件人: "APRIL-ZJU/OA-LICalib" ***@***.***&gt;; 发送时间:&nbsp;2023年5月26日(星期五) 晚上7:05 ***@***.***&gt;; ***@***.******@***.***&gt;; 主题:&nbsp;Re: [APRIL-ZJU/OA-LICalib] error when catkin_make for OA-LICalib: YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES with regard to eigen-3.3.7 (Issue #11) @haoxinnihao 你好，你解决这个问题了吗？ — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: ***@***.***&gt;

[Louis-Horns-XIAO]

2023.6.4
using Ceres 2.1.0 Sophus 1.22.10 Pangolin 0.5 Eigen 3.3.9
Passed run test, seems ok.

---

Found a solution(Perhaps it will work), at lest I have passed the error check.
Later I will run totally to check if it really works.

error location：

/OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp , line 104
jacobian = T.Dx_this_mul_exp_x_at_0().transpose();

Casue：

the definition of Eigen::Matrix:

Matrix<typename Scalar,
       int RowsAtCompileTime,
       int ColsAtCompileTime,
       int Options = 0,
       int MaxRowsAtCompileTime = RowsAtCompileTime,
       int MaxColsAtCompileTime = ColsAtCompileTime>

Options = 0 means the matrix is stored in Column Major Order (default).
Thus:
jacobian -> Eigen::RowMajor, manually defined.
While T.Dx_this_mul_exp_x_at_0().transpose() -> ColMajor

Wield, I didn't find a Function to transform these two... so the operator "=" (perhaps) is capable to handle that.
Code above are common if using LocalParameterizationSE3 (ceres), so I have no idea why it doesn't work now...

My Solution：

To pass the error check, I use a Dynamic Matrix ’ tmp’ to replace the assignment operation.

 Eigen::MatrixXd tmp = T.Dx_this_mul_exp_x_at_0().transpose();
    jacobian = tmp;

So jacobian keeps in Row Major Order.

[CoderGenJ]

2023.6.4 using Ceres 2.1.0 Sophus 1.22.10 Pangolin 0.5 Eigen 3.3.9 Passed run test, seems ok.

Found a solution(Perhaps it will work), at lest I have passed the error check. Later I will run totally to check if it really works.

error location：

/OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp , line 104 jacobian = T.Dx_this_mul_exp_x_at_0().transpose();

Casue：

the definition of Eigen::Matrix:

Matrix<typename Scalar,
       int RowsAtCompileTime,
       int ColsAtCompileTime,
       int Options = 0,
       int MaxRowsAtCompileTime = RowsAtCompileTime,
       int MaxColsAtCompileTime = ColsAtCompileTime>

Options = 0 means the matrix is stored in Column Major Order (default). Thus: jacobian -> Eigen::RowMajor, manually defined. While T.Dx_this_mul_exp_x_at_0().transpose() -> ColMajor

Wield, I didn't find a Function to transform these two... so the operator "=" (perhaps) is capable to handle that. Code above are common if using LocalParameterizationSE3 (ceres), so I have no idea why it doesn't work now...

My Solution：

To pass the error check, I use a Dynamic Matrix ’ tmp’ to replace the assignment operation.

 Eigen::MatrixXd tmp = T.Dx_this_mul_exp_x_at_0().transpose();
    jacobian = tmp;

So jacobian keeps in Row Major Order.

我试了之后发现只是编译通过,但是,跑的结果点云是乱的.为此,我直接把 transpose()删除,结果是正常的.
jacobian = T.Dx_this_mul_exp_x_at_0();

[CoderGenJ]

2023.6.4 using Ceres 2.1.0 Sophus 1.22.10 Pangolin 0.5 Eigen 3.3.9 Passed run test, seems ok.
Found a solution(Perhaps it will work), at lest I have passed the error check. Later I will run totally to check if it really works.

error location：

/OA-LICalib-git/include/basalt/spline/ceres_local_param.hpp , line 104 jacobian = T.Dx_this_mul_exp_x_at_0().transpose();

Casue：

the definition of Eigen::Matrix:

Matrix<typename Scalar,
       int RowsAtCompileTime,
       int ColsAtCompileTime,
       int Options = 0,
       int MaxRowsAtCompileTime = RowsAtCompileTime,
       int MaxColsAtCompileTime = ColsAtCompileTime>

Options = 0 means the matrix is stored in Column Major Order (default). Thus: jacobian -> Eigen::RowMajor, manually defined. While T.Dx_this_mul_exp_x_at_0().transpose() -> ColMajor
Wield, I didn't find a Function to transform these two... so the operator "=" (perhaps) is capable to handle that. Code above are common if using LocalParameterizationSE3 (ceres), so I have no idea why it doesn't work now...

My Solution：

To pass the error check, I use a Dynamic Matrix ’ tmp’ to replace the assignment operation.

 Eigen::MatrixXd tmp = T.Dx_this_mul_exp_x_at_0().transpose();
    jacobian = tmp;

So jacobian keeps in Row Major Order.

我试了之后发现只是编译通过,但是,跑的结果点云是乱的.为此,我直接把 transpose()删除,结果是正常的. jacobian = T.Dx_this_mul_exp_x_at_0();
这个地方报错的本质原因是row major不同,参考strasdat/Sophus#151