Hi,

I am running Mac OS X 10.7, using XCode 4.2.1 and am trying to get one of the Point Cloud Library (PCL) visualization tutorials running on my machine. I am getting the following error from the point_cloud.h file concerning Eigen::Map:

In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/pcl_base.h:56:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common.h:41:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common_headers.h:39:
In file included from /Users/aerobot/Development/PointCloudTest/PointCloudTest/main.cpp:12:
/Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/point_cloud.h:320:16:{320:16-320:165}: error: no viable conversion from 'Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' to 'const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' [3]
return (Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >((float*)(&points[0])+offset, points.size (), dim, Eigen::OuterStride<> (stride)));

I have not found any answers on the PCL mailing list so I thought I might try here.

Thanks for your help.

PCL compiles just fine using the Eigen headers under LLVM GCC 4.2 in XCode 4.2.1. It will not compile under CLang (Apple LLVM compiler 3.0). The problem seems to be that there is no header for:

const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >

but there is for:

Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >

aerobot wrote:I am running Mac OS X 10.7, using XCode 4.2.1 and am trying to get one of the Point Cloud Library (PCL) visualization tutorials running on my machine. I am getting the following error from the point_cloud.h file concerning Eigen::Map:

In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/pcl_base.h:56:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common.h:41:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common_headers.h:39:
In file included from /Users/aerobot/Development/PointCloudTest/PointCloudTest/main.cpp:12:
/Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/point_cloud.h:320:16:{320:16-320:165}: error: no viable conversion from 'Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' to 'const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' [3]
return (Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >((float*)(&points[0])+offset, points.size (), dim, Eigen::OuterStride<> (stride)));

Is the quoted line of code ("return (Eigen::Map<Eigen::MatrixXf, ...") part of PCL? It seems to me the error message is saying that it should be "return (Eigen::Map<const Eigen::MatrixXf, ...". Does making that change help?

yes, the error is clearly in pcl-1.4/pcl/point_cloud.h, feel free to report to PCL guys.

jitseniesen wrote:

aerobot wrote:I am running Mac OS X 10.7, using XCode 4.2.1 and am trying to get one of the Point Cloud Library (PCL) visualization tutorials running on my machine. I am getting the following error from the point_cloud.h file concerning Eigen::Map:

In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/pcl_base.h:56:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common.h:41:
In file included from /Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/common/common_headers.h:39:
In file included from /Users/aerobot/Development/PointCloudTest/PointCloudTest/main.cpp:12:
/Developer/SDKs/MacOSX10.7.sdk/usr/local/include/pcl-1.4/pcl/point_cloud.h:320:16:{320:16-320:165}: error: no viable conversion from 'Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' to 'const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >' [3]
return (Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >((float*)(&points[0])+offset, points.size (), dim, Eigen::OuterStride<> (stride)));

Is the quoted line of code ("return (Eigen::Map<Eigen::MatrixXf, ...") part of PCL? It seems to me the error message is saying that it should be "return (Eigen::Map<const Eigen::MatrixXf, ...". Does making that change help?

Yes, I've made this change on my machine and it makes everything compile just fine. Thanks for you help jitseniesen.