[BUG] make: *** No rule to make target 'teaserpp_python'. Stop.

[cakeandmilkcup]

Describe the bug
When following the "Minimal Python 3 example",
I get the error in the title (see To Reproduce below)

Also, I think there should be instructions for how to do the "testing". (see additional context below).

Also, at first
cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python
was saying that sphinx-build was not found. So I have to run
sudo apt-get install python3-sphinx
Maybe this should be added to the instructions.

Have you run the unit tests?

• Yes (see additional context)
• [] No --- then this issue will be closed.

Installed Dependencies
Please report the versions of all dependencies you installed, as well as your OS.
OS: Windows (running Ubuntu app (WSL))
conda 24.9.2

To Reproduce
In terminal, with conda base activated, run

sudo apt install cmake libeigen3-dev libboost-all-dev
conda create -n teaser_test python=3.6 numpy
conda activate teaser_test
conda install -c open3d-admin open3d=0.9.0.0
git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
cd TEASER-plusplus && mkdir build && cd build

then:
cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python
outputs

-- The C compiler identification is GNU 13.3.0
-- The CXX compiler identification is GNU 13.3.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Release' as none was specified.
-- Enable printing of diagnostic messages.
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Found Sphinx: /usr/bin/sphinx-build
-- Found Sphinx. Will build Sphinx HTML files.
-- Sphinx build location: /home/lenovo/myUbunDesktop/TEASER-plusplus/build/doc/sphinx_build
-- Configuring done (26.5s)
-- Generating done (0.1s)
CMake Warning:
  Manually-specified variables were not used by the project:

    TEASERPP_PYTHON_VERSION


-- Build files have been written to: /home/lenovo/myUbunDesktop/TEASER-plusplus/build

Then make teaserpp_python outputs

make: *** No rule to make target 'teaserpp_python'.  Stop.

Additional context

TESTING:
There are two test directories: TEASER-plusplus/test and TEASER-plusplus/build/test.
I ran ctest in the the build directories but all tests failed with errors:
Unable to find executable: /home/lenovo/myUbunDesktop/TEASER-plusplus/build/test/teaser/all_tests
and
Unable to find executable: /home/lenovo/myUbunDesktop/TEASER-plusplus/build/test/benchmark/all_benchmarks
running ctest in the TEASER-plusplus directory gives the same errors.

running cmake . in the test directories and it also gave errors:

CMake Error in CMakeLists.txt:
  No cmake_minimum_required command is present.  A line of code such as

    cmake_minimum_required(VERSION 3.28)

  should be added at the top of the file.  The version specified may be lower

So I added the line. But I got the errors:

CMake Error at test-tools/CMakeLists.txt:5 (target_link_libraries):
  The link interface of target "test_tools" contains:

    Eigen3::Eigen

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.



CMake Error at teaser/CMakeLists.txt:37 (target_link_libraries):
  Target "all_tests" links to:

    Eigen3::Eigen

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.



CMake Error at benchmark/CMakeLists.txt:8 (target_link_libraries):
  Target "all_benchmarks" links to:

    Eigen3::Eigen

  but the target was not found.  Possible reasons include:

    * There is a typo in the target name.
    * A find_package call is missing for an IMPORTED target.
    * An ALIAS target is missing.

[louvanho]

If you run
cd /home/vl10550y/Desktop/3DClimber/3DRE/TEASER-plusplus/build && cmake -DTEASERPP_PYTHON_VERSION=3.6 -DBUILD_PYTHON_BINDINGS=ON ..
it works fine.
However, you will probably need to run conda install -c conda-forge pybind11=2.6.0 first

[HaiCLi]

If you run cd /home/vl10550y/Desktop/3DClimber/3DRE/TEASER-plusplus/build && cmake -DTEASERPP_PYTHON_VERSION=3.6 -DBUILD_PYTHON_BINDINGS=ON .. it works fine. However, you will probably need to run conda install -c conda-forge pybind11=2.6.0 first

If I use this command, the next step will come out a issue of "pip can not install .". Did you meet the same situation?

[OuYaozhong]

If you run cd /home/vl10550y/Desktop/3DClimber/3DRE/TEASER-plusplus/build && cmake -DTEASERPP_PYTHON_VERSION=3.6 -DBUILD_PYTHON_BINDINGS=ON .. it works fine. However, you will probably need to run conda install -c conda-forge pybind11=2.6.0 first

If I use this command, the next step will come out a issue of "pip can not install .". Did you meet the same situation?

I meet totally the same problem

[L-david0115]

I encountered the same problem. I tried changing the branch in the repository, which resolved the issue and allowed me to run the instance. Below are my specific steps.
Before all of this began, I had already tried installing pybind11. To be safe, it's best to first run conda install -c conda-forge pybind11=2.6.0 to install it.

First, you need to use the code from the develop branch. Then, run the Minimal Python 3 example step-by-step as usual, until the cmake -DTEASERPP_PYTHON_VERSION=3.6 .. && make teaserpp_python step. You might encounter an error during make teaserpp_python.I tried modifying graph.cc and running it again, and then make was successful. The modified .cc file I used is as follows.

/**
 * Copyright 2020, Massachusetts Institute of Technology,
 * Cambridge, MA 02139
 * All Rights Reserved
 * Authors: Jingnan Shi, et al. (see THANKS for the full author list)
 * See LICENSE for the license information
 */

#include "teaser/graph.h"
#include "pmc/pmc.h"
#include <vector>

std::vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
  // Handle deprecated field
  if (!params_.solve_exactly) {
    params_.solver_mode = CLIQUE_SOLVER_MODE::PMC_HEU;
  }

  // Create a PMC graph from the TEASER graph
  std::vector<int> edges;
  std::vector<long long> vertices;
  vertices.push_back(edges.size());

  const auto all_vertices = graph.getVertices();
  for (const auto& i : all_vertices) {
    const auto& c_edges = graph.getEdges(i);
    edges.insert(edges.end(), c_edges.begin(), c_edges.end());
    vertices.push_back(edges.size());
  }

  // Use PMC to calculate
  pmc::pmc_graph G(vertices, edges);

  // Prepare PMC input
  // TODO: Incorporate this to the constructor
  pmc::input in;
  in.algorithm = 0;
  in.threads = params_.num_threads;
  in.experiment = 0;
  in.lb = 0;
  in.ub = 0;
  in.param_ub = 0;
  in.adj_limit = 20000;
  in.time_limit = params_.time_limit;
  in.remove_time = 4;
  in.graph_stats = false;
  in.verbose = false;
  in.help = false;
  in.MCE = false;
  in.decreasing_order = false;
  in.heu_strat = "kcore";
  in.vertex_search_order = "deg";

  // vector to represent max clique
  std::vector<int> C;

  // upper-bound of max clique
  G.compute_cores();
  auto max_core = G.get_max_core();

  TEASER_DEBUG_INFO_MSG("Max core number: " << max_core);
  TEASER_DEBUG_INFO_MSG("Num vertices: " << vertices.size());

  // check for k-core heuristic threshold
  // check whether threshold equals 1 to short circuit the comparison
  if (params_.solver_mode == CLIQUE_SOLVER_MODE::KCORE_HEU &&
      params_.kcore_heuristic_threshold != 1 &&
      max_core > static_cast<int>(params_.kcore_heuristic_threshold *
                                  static_cast<double>(all_vertices.size()))) {
    TEASER_DEBUG_INFO_MSG("Using K-core heuristic finder.");
    // remove all nodes with core number less than max core number
    // k_cores is a vector saving the core number of each vertex
    auto k_cores = G.get_kcores();
    for (int i = 1; i < k_cores->size(); ++i) {
      // Note: k_core has size equals to num vertices + 1
      if ((*k_cores)[i] >= max_core) {
        C.push_back(i - 1);
      }
    }
    return C;
  }

  if (in.ub == 0) {
    in.ub = max_core + 1;
  }

  // lower-bound of max clique
  if (in.lb == 0 && in.heu_strat != "0") { // skip if given as input
    pmc::pmc_heu maxclique(G, in);
    in.lb = maxclique.search(G, C);
  }

  assert(in.lb != 0);
  if (in.lb == 0) {
    // This means that max clique has a size of one
    TEASER_DEBUG_ERROR_MSG("Max clique lower bound equals to zero. Abort.");
    return C;
  }

  if (in.lb == in.ub) {
    return C;
  }

  // Optional exact max clique finding
  if (params_.solver_mode == CLIQUE_SOLVER_MODE::PMC_EXACT) {
    // The following methods are used:
    // 1. k-core pruning
    // 2. neigh-core pruning/ordering
    // 3. dynamic coloring bounds/sort
    // see the original PMC paper and implementation for details:
    // R. A. Rossi, D. F. Gleich, and A. H. Gebremedhin, “Parallel Maximum Clique Algorithms with
    // Applications to Network Analysis,” SIAM J. Sci. Comput., vol. 37, no. 5, pp. C589–C616, Jan.
    // 2015.
    if (G.num_vertices() < in.adj_limit) {
      G.create_adj();
      pmc::pmcx_maxclique finder(G, in);
      finder.search_dense(G, C);
    } else {
      pmc::pmcx_maxclique finder(G, in);
      finder.search(G, C);
    }
  }

  return C;
}

After replacing graph.cc like this, I was able to run the Minimal Python 3 example normally.Next, I tried to Reproduce the GIF. I opened another terminal and activated my virtual environment.First, I ran conda install scikit-learn. Then, I navigated into the TEASER++ directory and cd examples/teaser_python_3dsmooth. I attempted to run the example withpython teaser_python_3dsmooth.py.It ran normally and displayed the same effect as the GIF.

I performed the same test on another computer and found that it also failed due to open3d. To resolve this, before running the script, I first removed the existing open3d by running conda remove open3d. Then, I reinstalled and force-upgraded it using pip install -U open3d.If the original error showed "no module name PIL", you might also need to install pillow by running pip install pillow simultaneously.

However, the execution seemed a bit strange. At the beginning, during the "drawing correspondences" phase, I noticed that the lines connecting the point clouds were not actually attached to the point clouds themselves. The subsequent "drawing registration" phase, however, ran normally.The final matching result appears to be identical to the author's GIF result. I'm unsure what happened in this scenario and if this counts as a failed run.

[OuYaozhong]

Thanks for @L-david0115 , whose solution works for me.

In brief, just simply change to develop branch instead of the master by default.

My steps are shown below

conda create -n teaser python=3.12 numpy -y
pip install open3d
git checkout develop
mkdir build && cd build && cmake -DTEASERPP_PYTHON_VERSION=3.12 .. && make teaserpp_python
cd python && pip install .
cd ../.. && cd examples/teaser_python_ply 

Then, I can get some output as following:

==================================================
        TEASER++ Python registration example      
==================================================
Starting scale solver (only selecting inliers if scale estimation has been disabled).
Scale estimation complete.
Max core number: 741
Num vertices: 1890
Max Clique of scale estimation inliers: 
Using chain graph for GNC rotation.
Starting rotation solver.
GNC rotation estimation noise bound:0.1
GNC rotation estimation noise bound squared:0.01
GNC-TLS solver terminated due to cost convergence.
Cost diff: 0
Iterations: 17
Rotation estimation complete.
Starting translation solver.
Translation estimation complete.
=====================================
          TEASER++ Results           
=====================================
Expected rotation: 
[[ 0.99692656  0.06687358 -0.04066644]
 [-0.06612899  0.99761788  0.01940087]
 [ 0.04186755 -0.01665178  0.99897777]]
Estimated rotation: 
[[ 0.99904458  0.01775815 -0.03993219]
 [-0.01696206  0.99965232  0.02018733]
 [ 0.0402768  -0.01949071  0.99899844]]
Error (rad): 
0.049421979714781586
Expected translation: 
[-0.11557694 -0.03877054  0.11487489]
Estimated translation: 
[-0.11305671 -0.03968185  0.11346164]
Error (m): 
0.0030297441047538545
Number of correspondences:  1889
Number of outliers:  1700
Time taken (s):  0.3073110580444336

---

Supplements:

1. If you meet the bug when you run the python teaser_python_ply.py like:

==================================================
        TEASER++ Python registration example      
==================================================
Segmentation fault (core dumped)

Directly downgrade the numpy into version 1.26 without rebuilding works for me, refer to the answer in the issue #194.

Since there are some incompatible and leak of maintaining for the latest version, some modifications have been done to avoid raising error.

2. The commit ID of the repo I built with:

(teaser) user@hostname:$PATH/TEASER-plusplus/examples/teaser_python_ply$ git rev-parse HEAD
536a71271194ac45df719b973e96562b5f47899d

3. My Environment:

(teaser) user@hostname:$PATH/TEASER-plusplus/examples/teaser_python_ply$ conda list
# packages in environment at /home/yiuzon/.conda/envs/teaser:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                        main  
_openmp_mutex             5.1                       1_gnu  
addict                    2.4.0                    pypi_0    pypi
asttokens                 3.0.0                    pypi_0    pypi
attrs                     25.3.0                   pypi_0    pypi
blas                      1.0                         mkl  
blinker                   1.9.0                    pypi_0    pypi
bzip2                     1.0.8                h5eee18b_6  
ca-certificates           2025.2.25            h06a4308_0  
certifi                   2025.4.26                pypi_0    pypi
charset-normalizer        3.4.2                    pypi_0    pypi
comm                      0.2.2                    pypi_0    pypi
configargparse            1.7.1                    pypi_0    pypi
contourpy                 1.3.2                    pypi_0    pypi
cycler                    0.12.1                   pypi_0    pypi
dash                      3.0.4                    pypi_0    pypi
decorator                 5.2.1                    pypi_0    pypi
executing                 2.2.0                    pypi_0    pypi
expat                     2.7.1                h6a678d5_0  
fastjsonschema            2.21.1                   pypi_0    pypi
flask                     3.0.3                    pypi_0    pypi
fonttools                 4.58.1                   pypi_0    pypi
idna                      3.10                     pypi_0    pypi
intel-openmp              2023.1.0         hdb19cb5_46306  
ipython                   9.3.0                    pypi_0    pypi
ipython-pygments-lexers   1.1.1                    pypi_0    pypi
ipywidgets                8.1.7                    pypi_0    pypi
itsdangerous              2.2.0                    pypi_0    pypi
jedi                      0.19.2                   pypi_0    pypi
joblib                    1.5.1                    pypi_0    pypi
jsonschema                4.24.0                   pypi_0    pypi
jsonschema-specifications 2025.4.1                 pypi_0    pypi
jupyter-core              5.8.1                    pypi_0    pypi
jupyterlab-widgets        3.0.15                   pypi_0    pypi
kiwisolver                1.4.8                    pypi_0    pypi
ld_impl_linux-64          2.40                 h12ee557_0  
libffi                    3.4.4                h6a678d5_1  
libgcc-ng                 11.2.0               h1234567_1  
libgomp                   11.2.0               h1234567_1  
libstdcxx-ng              11.2.0               h1234567_1  
libuuid                   1.41.5               h5eee18b_0  
libxcb                    1.17.0               h9b100fa_0  
matplotlib                3.10.3                   pypi_0    pypi
matplotlib-inline         0.1.7                    pypi_0    pypi
mkl                       2023.1.0         h213fc3f_46344  
mkl-service               2.4.0           py312h5eee18b_2  
mkl_fft                   1.3.11          py312h5eee18b_0  
mkl_random                1.2.8           py312h526ad5a_0  
narwhals                  1.41.0                   pypi_0    pypi
nbformat                  5.10.4                   pypi_0    pypi
ncurses                   6.4                  h6a678d5_0  
nest-asyncio              1.6.0                    pypi_0    pypi
numpy                     1.26.4          py312hc5e2394_0  
numpy-base                1.26.4          py312h0da6c21_0  
open3d                    0.19.0                   pypi_0    pypi
openssl                   3.0.16               h5eee18b_0  
packaging                 25.0                     pypi_0    pypi
pandas                    2.3.0                    pypi_0    pypi
parso                     0.8.4                    pypi_0    pypi
pexpect                   4.9.0                    pypi_0    pypi
pillow                    11.2.1                   pypi_0    pypi
pip                       25.1               pyhc872135_2  
platformdirs              4.3.8                    pypi_0    pypi
plotly                    6.1.2                    pypi_0    pypi
prompt-toolkit            3.0.51                   pypi_0    pypi
pthread-stubs             0.3                  h0ce48e5_1  
ptyprocess                0.7.0                    pypi_0    pypi
pure-eval                 0.2.3                    pypi_0    pypi
pybind11                  2.13.6                   pypi_0    pypi
pyparsing                 3.2.3                    pypi_0    pypi
pyquaternion              0.9.9                    pypi_0    pypi
python                    3.12.9               h5148396_0  
pyyaml                    6.0.2                    pypi_0    pypi
readline                  8.2                  h5eee18b_0  
referencing               0.36.2                   pypi_0    pypi
requests                  2.32.3                   pypi_0    pypi
retrying                  1.3.4                    pypi_0    pypi
rpds-py                   0.25.1                   pypi_0    pypi
scikit-learn              1.6.1                    pypi_0    pypi
scipy                     1.15.3                   pypi_0    pypi
setuptools                72.1.0          py312h06a4308_0  
sqlite                    3.45.3               h5eee18b_0  
stack-data                0.6.3                    pypi_0    pypi
tbb                       2021.8.0             hdb19cb5_0  
teaserpp-python           1.0.0                    pypi_0    pypi
threadpoolctl             3.6.0                    pypi_0    pypi
tk                        8.6.14               h993c535_1  
tqdm                      4.67.1                   pypi_0    pypi
traitlets                 5.14.3                   pypi_0    pypi
tzdata                    2025.2                   pypi_0    pypi
urllib3                   2.4.0                    pypi_0    pypi
werkzeug                  3.0.6                    pypi_0    pypi
wheel                     0.45.1          py312h06a4308_0  
widgetsnbextension        4.0.14                   pypi_0    pypi
xorg-libx11               1.8.12               h9b100fa_1  
xorg-libxau               1.0.12               h9b100fa_0  
xorg-libxdmcp             1.1.5                h9b100fa_0  
xorg-xorgproto            2024.1               h5eee18b_1  
xz                        5.6.4                h5eee18b_1  
zlib                      1.2.13               h5eee18b_1

4. My Git Diff
Just to add the #include <cassert> to file using assert, and modify the vector into std::vector

diff --git a/teaser/include/teaser/linalg.h b/teaser/include/teaser/linalg.h
index c920ecf..9576fa4 100644
--- a/teaser/include/teaser/linalg.h
+++ b/teaser/include/teaser/linalg.h
@@ -14,6 +14,8 @@
 #include <Eigen/SparseCore>
 #include <Eigen/Eigenvalues>
 
+#include <cassert>
+
 namespace teaser {
 
 /**
@@ -98,4 +100,4 @@ void getNearestPSD(const Eigen::Matrix<NumT, Eigen::Dynamic, Eigen::Dynamic>& A,
   *nearestPSD = Ve * De_positive * Ve.transpose();
 }
 
-} // namespace teaser
\ No newline at end of file
+} // namespace teaser
diff --git a/teaser/include/teaser/registration.h b/teaser/include/teaser/registration.h
index 8aa596b..4bbf229 100644
--- a/teaser/include/teaser/registration.h
+++ b/teaser/include/teaser/registration.h
@@ -21,6 +21,8 @@
 #include "teaser/graph.h"
 #include "teaser/geometry.h"
 
+#include <cassert>
+
 // TODO: might be a good idea to template Eigen::Vector3f and Eigen::VectorXf such that later on we
 // can decide to use doulbe if we want. Double vs float might give nontrivial differences..
 
diff --git a/teaser/src/certification.cc b/teaser/src/certification.cc
index 08b0a3f..a5cb9fc 100644
--- a/teaser/src/certification.cc
+++ b/teaser/src/certification.cc
@@ -19,6 +19,8 @@
 #include "teaser/certification.h"
 #include "teaser/linalg.h"
 
+#include <cassert>
+
 teaser::CertificationResult
 teaser::DRSCertifier::certify(const Eigen::Matrix3d& R_solution,
                               const Eigen::Matrix<double, 3, Eigen::Dynamic>& src,
diff --git a/teaser/src/graph.cc b/teaser/src/graph.cc
index ca95862..3657dba 100644
--- a/teaser/src/graph.cc
+++ b/teaser/src/graph.cc
@@ -9,7 +9,9 @@
 #include "teaser/graph.h"
 #include "pmc/pmc.h"
 
-vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
+#include <cassert>
+
+std::vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
 
   // Handle deprecated field
   if (!params_.solve_exactly) {
@@ -17,8 +19,8 @@ vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
   }
 
   // Create a PMC graph from the TEASER graph
-  vector<int> edges;
-  vector<long long> vertices;
+  std::vector<int> edges;
+  std::vector<long long> vertices;
   vertices.push_back(edges.size());
 
   const auto all_vertices = graph.getVertices();
@@ -52,7 +54,7 @@ vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
   in.vertex_search_order = "deg";
 
   // vector to represent max clique
-  vector<int> C;
+  std::vector<int> C;
 
   // upper-bound of max clique
   G.compute_cores();
diff --git a/teaser/src/registration.cc b/teaser/src/registration.cc
index 4b1b8b9..c27f28a 100644
--- a/teaser/src/registration.cc
+++ b/teaser/src/registration.cc
@@ -18,6 +18,8 @@
 #include "teaser/graph.h"
 #include "teaser/macros.h"
 
+#include <cassert>
+
 void teaser::ScalarTLSEstimator::estimate(const Eigen::RowVectorXd& X,
                                           const Eigen::RowVectorXd& ranges, double* estimate,
                                           Eigen::Matrix<bool, 1, Eigen::Dynamic>* inliers) {

or the image may be more easy to read: