{"action":"created","issue":{"url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/7","repository_url":"https://api.github.com/repos/mp3guy/ICPCUDA","labels_url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/7/labels{/name}","comments_url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/7/comments","events_url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/7/events","html_url":"https://github.com/mp3guy/ICPCUDA/issues/7","id":168276248,"number":7,"title":"Compile Failed (Eigen errors)","user":{"login":"syedharoonalam","id":2439485,"avatar_url":"https://avatars0.githubusercontent.com/u/2439485?v=4","gravatar_id":"","url":"https://api.github.com/users/syedharoonalam","html_url":"https://github.com/syedharoonalam","followers_url":"https://api.github.com/users/syedharoonalam/followers","following_url":"https://api.github.com/users/syedharoonalam/following{/other_user}","gists_url":"https://api.github.com/users/syedharoonalam/gists{/gist_id}","starred_url":"https://api.github.com/users/syedharoonalam/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/syedharoonalam/subscriptions","organizations_url":"https://api.github.com/users/syedharoonalam/orgs","repos_url":"https://api.github.com/users/syedharoonalam/repos","events_url":"https://api.github.com/users/syedharoonalam/events{/privacy}","received_events_url":"https://api.github.com/users/syedharoonalam/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":26,"created_at":"2016-07-29T08:33:57Z","updated_at":"2017-08-14T23:49:19Z","closed_at":null,"body":"Hi, I am getting following Eigen errors when compiling the project: \n\nError   16  error : calling a **host** function(\"Eigen::DenseBase<Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> > ::Zero\") from a **device** function(\"blockReduceSum<(int)29> \") is not allowed\n\nError   73  error : calling a **host** function(\"Eigen::DenseCoeffsBase<Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> , (int)1> ::operator []\") from a **device** function(\"Reduction::SquareUpperTriangularProduct<(int)0, (int)0, (int)6> ::apply\") is not allowed\n\nError   18  error : calling a **host** function(\"Eigen::DenseCoeffsBase<Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> , (int)1> ::operator []\") from a **device** function(\"warpReduceSum<(int)29> \") is not allowed\n\nError   25  error : calling a **host** function(\"Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> ::Matrix\") from a **device** function(\"Reduction::operator ()\") is not allowed\n\nError   15  error : calling a **host** function(\"Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> ::MatrixEigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float , Eigen::Matrix<float, (int)29, (int)1, (int)2, (int)29, (int)1> > > \") from a **device** function(\"blockReduceSum<(int)29> \") is not allowed\n\nError   51  error : calling a **host** function(\"Eigen::MatrixBase<Eigen::Matrix<float, (int)3, (int)3, (int)2, (int)3, (int)3> > ::operator *<Eigen::Matrix<float, (int)3, (int)1, (int)2, (int)3, (int)1> > \") from a **device** function(\"Reduction::operator ()\") is not allowed\n\nI have built and installed Eigen from source files (CUDA supported). Tried using both [github.com/stevenlovegrove/eigen](stevenlovegrove/eigen) and Eigen 3.3. Also I have installed Eigen, Pangolin, Sophus and ICPCUDA all in Release mode for x64 platform. \n\nAny suggestions ?\n"},"comment":{"url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/comments/322340241","html_url":"https://github.com/mp3guy/ICPCUDA/issues/7#issuecomment-322340241","issue_url":"https://api.github.com/repos/mp3guy/ICPCUDA/issues/7","id":322340241,"user":{"login":"randi120","id":5075878,"avatar_url":"https://avatars2.githubusercontent.com/u/5075878?v=4","gravatar_id":"","url":"https://api.github.com/users/randi120","html_url":"https://github.com/randi120","followers_url":"https://api.github.com/users/randi120/followers","following_url":"https://api.github.com/users/randi120/following{/other_user}","gists_url":"https://api.github.com/users/randi120/gists{/gist_id}","starred_url":"https://api.github.com/users/randi120/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/randi120/subscriptions","organizations_url":"https://api.github.com/users/randi120/orgs","repos_url":"https://api.github.com/users/randi120/repos","events_url":"https://api.github.com/users/randi120/events{/privacy}","received_events_url":"https://api.github.com/users/randi120/received_events","type":"User","site_admin":false},"created_at":"2017-08-14T23:49:19Z","updated_at":"2017-08-14T23:49:19Z","body":"@arpit15, I am hesitant to create a pull request for code I have never used. As I mentioned above, I did not run into these issues with ICPCUDA. However, this thread was one of the top hits, and once I got something to work (on my own code), I figure it would be worth sharing here.\r\n\r\nThat said, a possible fix for ICPCUDA could be: \r\n1. create a file `geometry_wrapper.h`. Paste the code from my earlier post into the file.\r\n2. (As stated by @Buzzroid) replace the lines `#include <Eigen/Geometry>`  in `ICPOdometry.h` and `Cuda/internal.h` with `#include \"geometry_wrapper.h\"`.\r\n\r\nHope that helps."}}
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