The library method 'vision.internal.buildable.ComputeMetricBuildable.updateBuildInfo' failed

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Andinet 2023-5-1

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https://ww2.mathworks.cn/matlabcentral/answers/1956219-the-library-method-vision-internal-buildable-computemetricbuildable-updatebuildinfo-failed

评论： Josh Chen 2023-5-11

cfg = coder.config("exe");

cfg.Hardware = coder.hardware("Robot Operating System 2 (ROS 2)");

cfg.Hardware.DeployTo = "Localhost";

cfg.Hardware.BuildAction = "Build and run";

cfg.HardwareImplementation.ProdHWDeviceType = "Intel->x86-64 (Windows64)";

cfg.HardwareImplementation.ProdLongLongMode = true; % Use 'long long' for Int64 or Uint64 data types

codegen xxx -config cfg

The library method 'vision.internal.buildable.ComputeMetricBuildable.updateBuildInfo' failed.

Caused by:

Unable to determine MEX compiler: use mex -setup to configure your system.

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Answer 1

Josh Chen 2023-5-1

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https://ww2.mathworks.cn/matlabcentral/answers/1956219-the-library-method-vision-internal-buildable-computemetricbuildable-updatebuildinfo-failed#answer_1227009

Hello Andinet,

As the error message suggested, please use

>> mex -setup

to set up the compiler so that MATLAB can find the compiler in your system. You may also need

>> mex -setup C++

If setting up compiler does not resolve this issue, we may need to look at the m-file you are trying to generate code from.

Thanks,

Josh

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Andinet 2023-5-1

I have cycled through mingw, VS 2019 and VS 2022. It works fine for basic ros2 subscriber and publishers. Here is the function that I am calling inside a lidar callback function to segment pointcloud2 data.

function [pcSurvived,survivedIndices,croppedIndices] = limit_FoV (pointcloud_in)

% XLimits XLimits for the scene

XLimits = [0 30];

% YLimits YLimits for the scene

YLimits = [-6 6];

% ZLimits ZLimits fot the scene

ZLimits = [-2 2];

% EgoVehicleRadius Radius of ego vehicle

EgoVehicleRadius = 0;

currentPointCloud = pointCloud(pointcloud_in);

[pcSurvived,survivedIndices,croppedIndices] = cropPointCloud(currentPointCloud,XLimits,YLimits,ZLimits,EgoVehicleRadius);

end

function [ptCloudOut,indices,croppedIndices] = cropPointCloud(ptCloudIn,xLim,yLim,zLim,egoVehicleRadius)

% This method selects the point cloud within limits and removes the

% ego vehicle point cloud using findNeighborsInRadius

locations = ptCloudIn.Location;

locations = reshape(locations,[],3);

insideX = locations(:,1) < xLim(2) & locations(:,1) > xLim(1);

insideY = locations(:,2) < yLim(2) & locations(:,2) > yLim(1);

insideZ = locations(:,3) < zLim(2) & locations(:,3) > zLim(1);

inside = insideX & insideY & insideZ;

% Remove ego vehicle

nearIndices = findNeighborsInRadius(ptCloudIn,[0 0 0],egoVehicleRadius);

nonEgoIndices = true(ptCloudIn.Count,1);

nonEgoIndices(nearIndices) = false;

validIndices = inside & nonEgoIndices;

indices = find(validIndices);

croppedIndices = find(~validIndices);

ptCloudOut = select(ptCloudIn,indices);

end

Andinet 2023-5-1

编辑：Andinet 2023-5-2

Here are two functions: the entry function and callback function. I am tracing the error to the pointCloud object used in the function 'limit_FoV', is there a workaround ?

function main_lidar_cg_Version1()

%#codegen

domainID = 0;

Name = "/trackingNode";

LidarTrackerNode = ros2node(Name, domainID);

lidar_sub = ros2subscriber(LidarTrackerNode, "/livox/lidar","sensor_msgs/PointCloud2",@mylidar_cb);

end

function mylidar_cb(message)

xyz = rosReadXYZ(message);

[pcSurvived,survivedIndices,croppedIndices] = limit_FoV (xyz);

end

Josh Chen 2023-5-11

Hi Andinet,

Sorry for late response. I tried to generate code from my side and confirm that there is an issue when pointCloud during code generation on Windows. I tried to generate code with the same setup on linux and it works.

Couple releases ago, I believe I was able to do the same thing on Windows too, so I've raised an internal ticket for the corresponding team to look into this issue.

Please reach out to MathWorks technical support if you are still looking for some workaround.

Thanks,

Josh

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The library method 'vision.internal.buildable.ComputeMetricBuildable.updateBuildInfo' failed

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