Eigen Bug

[impce-lg]

I run the last command：./../build/examples/pppBayesTree -c phastball.conf
it shows：
Using threads for all processors
pppBayesTree: /home/User/WORK/Factor Graph/GNSS/PPP-BayesTree/PPP-BayesTree-trunk/gtsam/3rdparty/Eigen/Eigen/src/Core/Block.h:142: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index) [with XprType = Eigen::Matrix<double, -1, -1>; int BlockRows = -1; int BlockCols = -1; bool InnerPanel = false; Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index = long int]: Assertion `a_startRow >= 0 && blockRows >= 0 && a_startRow <= xpr.rows() - blockRows && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols' failed.

How to fix it？

[watsonryan]

Can you re-run cmake and provide the output? That might help me figure out the issue.

[impce-lg]

huanhexiao@JIN:~/WORK/FactorGraph/GNSS/PPP-BayesTree/PPP-BayesTree_trunk/build$ cmake ..
-- The CXX compiler identification is GNU 5.4.0
-- The C compiler identification is GNU 5.4.0
-- 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
-- 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
-- GTSAM_SOURCE_ROOT_DIR: [/home/huanhexiao/WORK/FactorGraph/GNSS/PPP-BayesTree/PPP-BayesTree_trunk]
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- thread
-- program_options
-- date_time
-- regex
-- timer
-- chrono
-- atomic
Ignoring Boost restriction on optional lvalue assignment from rvalues
-- Found Intel TBB
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES)
-- Found OpenMP_C: -fopenmp (found version "4.0")
-- Found OpenMP_CXX: -fopenmp (found version "4.0")
-- Found OpenMP: TRUE (found version "4.0")
-- Building 3rdparty
-- Looking for execinfo.h
-- Looking for execinfo.h - found
-- Looking for getline
-- Looking for getline - found
-- checking for thread-local storage - found
-- Found GeographicLib: /usr/local/lib
-- Building base
-- Building geometry
-- Building inference
-- Building symbolic
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building smart
-- Building navigation
-- Building gnssNavigation
-- Building configReader
-- Building robustModels
-- Building gpstk
-- GTSAM Version: 4.0.0
-- Install prefix: /usr/local
-- Building GTSAM - shared
CMake Warning at cmake/GtsamTesting.cmake:229 (message):
The script exclusion pattern
'DiscreteBayesNet_FG.cpp;UGM_chain.cpp;UGM_small.cpp;elaboratePoint2KalmanFilter.cpp'
did not match any files
Call Stack (most recent call first):
cmake/GtsamTesting.cmake:55 (gtsamAddExesGlob_impl)
examples/CMakeLists.txt:8 (gtsamAddExamplesGlob)

-- Wrote /home/huanhexiao/WORK/FactorGraph/GNSS/PPP-BayesTree/PPP-BayesTree_trunk/build/GTSAMConfig.cmake
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.11") found components: doxygen dot
-- ===============================================================
-- ================ Configuration Options ======================
-- CMAKE_CXX_COMPILER_ID type : GNU
-- CMAKE_CXX_COMPILER_VERSION : 5.4.0
-- Build flags
-- Build Tests : Enabled
-- Build examples with 'make all' : Enabled
-- Build timing scripts with 'make all': Disabled
-- Build Docs : Enabled
-- Build static GTSAM library instead of shared: Disabled
-- Put build type in library name : Enabled
-- Build type : Release
-- C compilation flags : -std=c11 -Wall
-- C++ compilation flags : -std=c++11 -Wall
-- Use System Eigen : No
-- Use Intel TBB : Yes
-- Eigen will use MKL : MKL not found
-- Eigen will use MKL and OpenMP : OpenMP found but MKL not found
-- Default allocator : TBB
-- Packaging flags
-- CPack Source Generator : TGZ
-- CPack Generator : TGZ
-- GTSAM flags
-- Quaternions as default Rot3 : Disabled
-- Runtime consistency checking : Disabled
-- Rot3 retract is full ExpMap : Disabled
-- Pose3 retract is full ExpMap : Disabled
-- Deprecated in GTSAM 4 allowed : Enabled
-- Point3 is typedef to Vector3 : Disabled
-- Metis-based Nested Dissection : Enabled
-- Use tangent-space preintegration: Enabled
-- MATLAB toolbox flags
-- Install matlab toolbox : Disabled
-- Build Wrap : Enabled
-- Python module flags
-- Build python module : Disabled
-- ===============================================================
CMake Warning at CMakeLists.txt:499 (message):
MKL was not found - this is ok, but note that MKL yields better
performance. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.

-- Configuring done
-- Generating done
-- Build files have been written to: /home/huanhexiao/WORK/FactorGraph/GNSS/PPP-BayesTree/PPP-BayesTree_trunk/build

[impce-lg]

I set breakpoints and and step into the problem, the steps order:

1.pppBayesTree.cpp: isam.update(graph, initial_values);
2.ISAM2.cpp: GaussianFactorGraph::shared_ptr linearFactors = newFactors.linearize(theta_);
3.NonlinearFactorGraph.cpp: _LinearizeOneFactor(*this, linearizationPoint, *linearFG));

Hope that helps

[impce-lg]

I happened to find sommething:
there is no 'set(CMAKE_BUILD_TYPE " ")' in CMakeLists.txt,
the issue above occurs without such option or setted as 'set(CMAKE_BUILD_TYPE "Debug")';
if setted as 'set(CMAKE_BUILD_TYPE "Release")',it works well.

[shaolinbit]

At PseudorangeFactor.cpp, change evaluateError as follows,
Vector PseudorangeFactor::evaluateError(const nonBiasStates& q,
boost::optional<Matrix&> H) const {

    Vector h = obsMap(satXYZ_, nomXYZ_, 1);
    if(H)
    {
       H->resize(1,5);
       *H<<h(0),h(1),h(2),h(3),h(4);
    }
    //if (H) { (*H) = (Matrix(1,5) << h ).finished(); }
    double est = (h.transpose() * q);
    return (Vector(1) << est - measured_ ).finished();

}

At PhaseFactor.cpp, change it as follows.
Vector PhaseFactor::evaluateError(const nonBiasStates& q, const phaseBias& g, boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {

    Vector h = obsMap(satXYZ_, nomXYZ_, 1);
    Matrix gnssPartials = Z_1x1;

    //if (H1) { (*H1) = (Matrix(1,5) << h).finished(); }
     if(H1)
    {
       H1->resize(1,5);
       *H1<<h(0),h(1),h(2),h(3),h(4);
    }
    if (H2) {
            gnssPartials(0) = 1.0; // phase bias
            (*H2) = gnssPartials;
    }
    double est = (h.transpose() * q) + g[0];
    return (Vector(1) << est - measured_ ).finished();

}

Then, you can debug it. Some verison of Eigen can not deal with the original style.