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Building the Sparse Bundle Adjustment (SBA) library on OS X

asked 2016-04-17 11:49:32 -0600

spmaniato gravatar image

updated 2016-04-17 13:42:49 -0600

I'm trying to build slam_karto from source, which in turn needs open_karto and sparse_bundle_adjustment

The sparse_bundle_adjustment catkin package has 3 dependencies of interest: liblapack-dev, libblas-dev, and suitesparse OS X comes with (some version of) the first two.

I then tried three different ways of installing SuiteSparse:

  • This catkin wrapper: https://github.com/ethz-asl/suitesparse It seemed to work. But then when I tried to build SBA the linker complained that ld: library not found for -lcholmod
  • Installing SuiteSparse from source http://faculty.cse.tamu.edu/davis/sui... Got lost in dependencies. clang: error: no such file or directory: '[...]/SuiteSparse/lib/libmetis.dylib'
  • Realizing it's available via Homebrew, brew install suite-sparse This got me metis, the dependency above, and installed SuiteSparse. But then, when I tried to compile SBA: fatal error: 'suitesparse/cs.h' file not found I commented out that #include "suitesparse/cs.h" just to see if it can find other headers. It cannot: fatal error: 'suitesparse/cholmod.h' file not found However, these headers are indeed under: /usr/local/Cellar/suite-sparse/4.5.1/include and the seem to be symlinked from/usr/loca/include, e.g., cs.h -> ../Cellar/suite-sparse/4.5.1/include/cs.h

Has anyone been able to build SBA (and SLAM Karto in general) on OS X? Please let me know if you need more information. Thanks in advance!

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answered 2016-04-17 14:19:21 -0600

spmaniato gravatar image

updated 2016-04-17 14:25:08 -0600

I realized that the Homebrew formula placed the header files directly under /usr/local/Cellar/suite-sparse/4.5.1/include. That is, there is no /usr/local/Cellar/suite-sparse/4.5.1/include/suitesparse directory. (By contrast, in Ubuntu the headers are placed under /usr/include/suitesparse)

Therefore, by changing the include directives in SBA, specifically in csparse.h, to #include "cs.h" and #include "cholmod.h", I was able to compile the sparse_bundle_adjustment package.

Alternatively, it also works if I create the following symlink myself and keep SBA untouched:

ln -s /usr/local/Cellar/suite-sparse/4.5.1/include /usr/local/include/suitesparse

PS. I was able to build slam_karto too afterwards.

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Asked: 2016-04-17 11:49:32 -0600

Seen: 856 times

Last updated: Apr 17 '16