Cython + MSVC14.1 GetDimensions not found in GenericValue.h

[Firefox Metzger]

I have switched from using the python wrapper to building the cython toolbox instead, as advised in #400. I'm trying to build GTSAM on Windows 10 with Python 3.6 and MSVC 14.1 as well as Boost 1.68.

Now I'm facing a compile time error when building cythonize_gtsam. The build log is attached. (I'm building the release not the debug build, because I only have a release version of the python library, python36.lib.)

The trouble is caused by

6>C:\Users\Sebastian\Documents\Coding Projects\gtsam\gtsam/base/GenericValue.h(152): error C2027: use of undefined type 'gtsam::traits<T>'
6>C:\Users\Sebastian\Documents\Coding Projects\gtsam\gtsam/base/GenericValue.h(152): error C3861: 'GetDimension': identifier not found

in the file GenericValue.h. gtsam::traits is defined in Manifold.h which seems to be included correctly. However, none of the two ManifoldImpl is being picked up. I'm not sure why...

This issue seems to be related to #394 . I'm getting the same errors; however, as I am currently building without the unstable library, the linker errors are of no concern. (They do exist for me though.).

Issue #198 may also be related, though I am not 100% sure.

Any help is appreciated

[Firefox Metzger]

added "Issue" before #198 to prevent markdown from making it a headline

[Firefox Metzger]

The same problem has also made it's appearance in #332 in the log of Jing Dong. The difference is that I am using VC2017 whereas he is using VC2015. Since there are some Windows machines where it seems to compile, could it be architecture related? I'm using

• CMake 3.13.0-rc3
• VC2017 Community v15.9.1 (MSVC++ 14.01)
• Boost 1.68 (compiled locally)

I've modified the FindCython.cmake adding brackets around the print statement. This will allow it to run in Python 3 and should still be compatible with Python 2.

I'm also still puzzled by the traits<T>::GetDimension error. I couldn't find the definition (or declaration for that matter) in GenericValue.h or elsewhere, so it seems that it is indeed missing. Where is the implementation of it? It is used in virtual size_t dim() const which (I suspect) is commonly overloaded by derived classes? Since it doesn't seem to cause issues on Linux or Mac, I am wondering if these compilers ignore the body of the function or find the identifier elsewhere (if so, where?).

Here is my CMake log:

Selecting Windows SDK version 10.0.17763.0 to target Windows 10.0.17134.
GTSAM_SOURCE_ROOT_DIR: [C:/Users/Sebastian/Documents/Coding Projects/gtsam]
Boost version: 1.68.0
Found the following Boost libraries:
  serialization
  system
  filesystem
  thread
  program_options
  date_time
  timer
  chrono
  regex
  atomic
Ignoring Boost restriction on optional lvalue assignment from rvalues
[Warning] FindTBB.cmake: The use of TBB_ARCHITECTURE and TBB_COMPILER is deprecated and may not be supported in future versions. Please set $ENV{TBB_ARCH_PLATFORM} (using tbbvars.[bat|csh|sh]).
TBB: Intel TBB NOT found!
TBB: Looked for Threading Building Blocks in C:/Program Files/Intel/TBB
Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
Building 3rdparty
Could NOT find GeographicLib (missing: GeographicLib_LIBRARY_DIRS GeographicLib_LIBRARIES GeographicLib_INCLUDE_DIRS) 
Building base
Building geometry
Building inference
Building symbolic
Building discrete
Building linear
Building nonlinear
Building sam
Building sfm
Building slam
Building smart
Building navigation
Adding precompiled header for MSVC
GTSAM Version: 4.0.0
Install prefix: C:/Program Files/GTSAM
Building GTSAM - shared
Building base_unstable
Building geometry_unstable
Building linear_unstable
Building discrete_unstable
Building dynamics_unstable
Building nonlinear_unstable
Building slam_unstable
GTSAM_UNSTABLE Version: 4.0.0
Install prefix: C:/Program Files/GTSAM
Building GTSAM_UNSTABLE - shared
Found Cython: ['C:\\Users\\Sebastian\\AppData\\Local\\Programs\\Python\\Python36\\lib\\site-packages\\Cython'] (found suitable version "0.27.2", minimum required is "0.25.2") 
Cythonize and build eigency
Found PythonLibs: C:/Users/Sebastian/AppData/Local/Programs/Python/Python36/libs/python36.lib (found suitable version "3.6.2", minimum required is "2.7") 
Found NumPy: version "1.14.3" C:/Users/Sebastian/AppData/Local/Programs/Python/Python36/lib/site-packages/numpy/core/include
Cython wrapper generating gtsam.pyx
Cythonize and build gtsam.pyx
Installing Cython Toolbox to C:/Program Files/GTSAM/cython/gtsam
Cython wrapper generating gtsam_unstable.pyx
Cythonize and build gtsam_unstable.pyx
Installing Cython Toolbox to C:/Program Files/GTSAM/cython/gtsam
Wrote C:/Users/Sebastian/Documents/Coding Projects/gtsam/build/GTSAMConfig.cmake
Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
===============================================================
================  Configuration Options  ======================
  CMAKE_CXX_COMPILER_ID type     : MSVC
  CMAKE_CXX_COMPILER_VERSION     : 19.16.27023.1
Build flags                                               
  Build Tests                    : Enabled
  Build examples with 'make all' : Enabled
  Build timing scripts with 'make all': Disabled
  Build static GTSAM library instead of shared: Disabled
  Put build type in library name : Enabled
  Build libgtsam_unstable        : Enabled
  Use System Eigen               : No
  Use Intel TBB                  : TBB not found
  Eigen will use MKL             : MKL not found
  Eigen will use MKL and OpenMP  : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
  Default allocator              : STL
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
Cython toolbox flags                                      
  Install Cython toolbox         : Enabled
  Build Wrap                     : Enabled
===============================================================
Configuring done
Generating done

[Frank Dellaert]

Do a search on GetDimension in whole source. Inheritance hierarchy + traits is a bit baroque... But, why would it fail here and not on other platforms? It works for me on windows, BTW, with no cmake changes. Bizarre!

[Firefox Metzger]

Thanks for your reply.

I have to compile without the Intel libraries since I don't own them (yet); I don't think this is the cause though.

Compiling the gtsam library itself works fine. What seems to fail is the gtsam.cpp generated by cython as well as the two unstable examples SmartRangeExample_plaza1 and SmartRangeExample_plaza2, so I've excluded the python build for now and focused on the examples that fail with the same error.

Interestingly, when I comment out the following piece of code:

for(const Values::ConstFiltered<Point2>::KeyValuePair& it: result.filter<Point2>())
    os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1"
        << endl;

(3 occurences in both files) the project compiles fine, without errors. The culprit seems to be in result.filter<Point2>(), but I have not yet looked into that file specifically.

[Firefox Metzger]

I tried compiling the same setup on my Linux (Ubuntu 16.04) workstation and it works without errors. My guess is that it is indeed something regarding how MSVC handles traits.

[Frank Dellaert]

You might be right, and windows gtsam users all over the world will love you if you find a fix ;-)