Covert Pro. to Windows

SimpleOpt

http://code.jellycan.com/simpleopt-doc/html/files.html

FFTW 3.3.3 Windows DLLs

http://www.fftw.org/install/windows.html

Eigen

http://eigen.tuxfamily.org/dox/GettingStarted.html

libxml2

You can find all the history of libxml(2) and libxslt releases in the old directory. The precompiled Windows binaries made by Igor Zlatovic are available in the win32 directory.

小记：ICONV库，开源的编码转换工具 

    ICONV库是GNU提供的开源编码转换库，在LINUX下已经默认包含于系统中。对于开发者来说，已经存在/usr/include/iconv.h文件，链接时无需加入库名称。 在WINDOWS下需要下载库的安装程序：LibIconv for Windows库的网址为：http://gnuwin32.sourceforge.net/packages/libiconv.htm 

解决VC不包含stdint.h头文件问题

stdint.h是C99的标准，主要用于统一跨平台数据定义。

MSVC中不带有这个头文件，直到VS2010（新闻）。

在之前的版本里面，我们可以：

（1）下载这个头文件

download a MS version of this header from:

http://msinttypes.googlecode.com/svn/trunk/stdint.h

A portable one can be found here:

http://www.azillionmonkeys.com/qed/pstdint.h

（2）将头文件放到（以VS2008为例）：

C:\Program Files\Microsoft Visual Studio 9.0\VC\include

M_PI 是一个宏定义，圆周率的定义

          C/C++ code

   
   

    
    #define
 M_PI        3.14159265358979323846

   
   

   
   

    
    此宏定义和编译器有关，TC中M_PI宏就定义在<math.h>里面。
   
   
但vc的<math.h>中没有了M_PI的宏定义。因此编译时会出错，提示：“M_PI”: 未声明的标识符。

解决方法：自己定义。

error C2719: '_Val': formal parameter with __declspec(align('16')) won't be aligned

英文提示:error C2719: 'p': formal parameter with __declspec(align('16')) won't be aligned

中文提示:error C2719: “p”: 具有 __declspec(align('16')) 的形参将不被对齐

导致整个现象的主要原因是使用了Eigen库，Eigen为了使用SSE加速，所以内存分配上使用了128位的指针。

更加准确的说法：

“First, "fixed-size" should be clear: an Eigen object has fixed size if its number of rows and its number of columns are fixed at compile-time. So for example Matrix3f has fixed size, but MatrixXf doesn't (the opposite of fixed-size is dynamic-size).

The array of coefficients of a fixed-size Eigen object is a plain "static array", it is not dynamically allocated. For example, the data behind a Matrix4f is just a "float array[16]".

Fixed-size objects are typically very small, which means that we want to handle them with zero runtime overhead -- both in terms of memory usage and of speed.

Now, vectorization (both SSE and AltiVec) works with 128-bit packets. Moreover, for performance reasons, these packets need to be have 128-bit alignment.

So it turns out that the only way that fixed-size Eigen objects can be vectorized, is if their size is a multiple of 128 bits, or 16 bytes. Eigen will then request 16-byte alignment for these objects, and henceforth rely on these objects being aligned so no runtime check for alignment is performed.”

解决方案：

分为四种情况：

• Cause 1: Structures having Eigen objects as members
• Cause 2: STL Containers
• Cause 3: Passing Eigen objects by value
• Cause 4: Compiler making a wrong assumption on stack alignment (for instance GCC on Windows)

每种情况可以对照官方的说法。可以参考如下链接

http://eigen.tuxfamily.org/dox/TopicUnalignedArrayAssert.html

在此不再重复表述。

'dummy_precision' : is not a member of 'Eigen::NumTraits<T>'

help,vs2008 complier error,but gcc is right?

原因找到了，

You define arrays where each item is an array and somewhere in your code, you try to call methods which are defined only on scalars, like dummy_precision() (See the output from the compiler)

但是如何解决？？？

貌似是eigen的bug，哎 如何是好~~~

参见对正在编译的类 模板 实例化

这个问题我也遇到了. 经过反复检查, 其实是个小问题,问题的原因在于变量赋值的类型不匹配.顺着这个思路查查吧

// doesn't work

http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes

STL containers

If you have errors like:

error C2719: '_Val': formal parameter with __declspec(align('16')) won't be aligned

around a STL container, then it means that you must use Eigen's special aligned memory allocator for the container. This Eigen's webpage explains this problem in detail.

But, in short these are the required changes:

01	Let "TYPE" be any "problematic" class or struct.

02

03

// vector

04	std::vector<TYPE> v;  // ERROR.

05	std::vector<TYPE, Eigen::aligned_allocator<TYPE> > v;  // OK, or alternatively

06	mrpt::aligned_containers<TYPE>::vector_t v;  // this version is a short-cut.

07

08

// map

09	std::map<KEY,VALUE> m;  // ERROR.

10	std::map<KEY,VALUE, std::less<KEY>, Eigen::aligned_allocator<std::pair<const KEY,VALUE>

11	> > m;  // OK, or alternatively

12	mrpt::aligned_containers<KEY,VALUE>::map_t  m;  // this version is a short-cut.

Notice that MRPT provides mrpt::aligned_containers to ease the declaration of such STL containers.

http://forum.kde.org/viewtopic.php?f=74&t=102061

According to http://msdn.microsoft.com/en-us/library ... y1(v=vs.71).aspx Visual C does not allow the align argument in a function call. However, the type I'm placing into the Eigen Matrix has to be aligned. I

I prepared a patch there:

http://eigen.tuxfamily.org/bz/show_bug.cgi?id=482

maybe the same changes will be needed for the other modules...