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eigenroseigen3catkingtsam

gtsam is not able to find Eigen

I use version 4.1.1 of GTSAM. I have version 3.3.4 of Eigen installed.

The error is:

/usr/local/include/gtsam/base/OptionalJacobian.h:22:10: fatal error: Eigen/Dense: No such file or directory
 #include <Eigen/Dense>

I tried building GTSAM with the flag -DGTSAM_USE_SYSTEM_EIGEN set to both on and off. The same error message appears in both cases.

For reference this is a ROS project built with catkin.

Solution

  • I was able to get it working by cloning version 4.0.3 of GTSAM into the src folder of my workspace, then building it with the following arguments:

     -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON