Error while "make"

[HDaoud]

Hello,

Thanks for sharing the code, I tried to compile it but I'm getting this error:

/usr/include/c++/5/fenv.h:58:11: error: ‘::fenv_t’ has not been declared using ::fenv_t; ^ /usr/include/c++/5/fenv.h:59:11: error: ‘::fexcept_t’ has not been declared using ::fexcept_t; ^ /usr/include/c++/5/fenv.h:62:11: error: ‘::feclearexcept’ has not been declared using ::feclearexcept; ^ /usr/include/c++/5/fenv.h:63:11: error: ‘::fegetexceptflag’ has not been declared using ::fegetexceptflag; ^ /usr/include/c++/5/fenv.h:64:11: error: ‘::feraiseexcept’ has not been declared using ::feraiseexcept; ^ /usr/include/c++/5/fenv.h:65:11: error: ‘::fesetexceptflag’ has not been declared using ::fesetexceptflag; ^ /usr/include/c++/5/fenv.h:66:11: error: ‘::fetestexcept’ has not been declared using ::fetestexcept; ^ /usr/include/c++/5/fenv.h:68:11: error: ‘::fegetround’ has not been declared using ::fegetround; ^ /usr/include/c++/5/fenv.h:69:11: error: ‘::fesetround’ has not been declared using ::fesetround; ^ /usr/include/c++/5/fenv.h:71:11: error: ‘::fegetenv’ has not been declared using ::fegetenv; ^ /usr/include/c++/5/fenv.h:72:11: error: ‘::feholdexcept’ has not been declared using ::feholdexcept; ^ /usr/include/c++/5/fenv.h:73:11: error: ‘::fesetenv’ has not been declared using ::fesetenv; ^ /usr/include/c++/5/fenv.h:74:11: error: ‘::feupdateenv’ has not been declared using ::feupdateenv; ^

[HDaoud]

The problem is happening when compiling timing:

In file included from /usr/include/boost/detail/fenv.hpp:69:0, from /usr/include/boost/math/tools/config.hpp:291, from /usr/include/boost/math/special_functions/sign.hpp:16, from /usr/include/boost/lexical_cast.hpp:167, from /usr/include/boost/date_time/string_parse_tree.hpp:13, from /usr/include/boost/date_time/period_parser.hpp:14, from /usr/include/boost/date_time/date_facet.hpp:23, from /usr/include/boost/date_time/gregorian/gregorian_io.hpp:16, from /usr/include/boost/date_time/gregorian/gregorian.hpp:31, from /usr/include/boost/date_time/posix_time/time_formatters.hpp:12, from /usr/include/boost/date_time/posix_time/posix_time.hpp:24, from /home/hdaoud/Documents/okvis/okvis_timing/include/okvis/timing/Timer.hpp:44, from /home/hdaoud/Documents/okvis/okvis_timing/src/Timer.cpp:34:

[aforster]

You could deactivate the timers, remove the Timer class and don't include the posix header as a workaround.

[HDaoud]

Hi Andreas,

I tried to deactivate timers by adding the following: #ifndef DEACTIVATE_TIMERS #define DEACTIVATE_TIMERS

to the top of Frontend.hpp, and I removed the timer by commenting scr/Timer.cpp `add_library(${PROJECT_NAME}

src/Timer.cpp

src/NsecTimeUtilities.cpp )`

I also commented the include of posix in timer.hpp

but I'm getting a lot of errors in frontend.cpp class :sweat:

/home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:268:3: error: ‘matchStereoTimer’ was not declared in this scope matchStereoTimer.stop(); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:274:6: error: ‘Frontend’ has not been declared bool Frontend::propagation(const okvis::ImuMeasurementDeque & imuMeasurements, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:280:69: error: non-member function ‘bool okvis::propagation(const ImuMeasurementDeque&, const okvis::ImuParameters&, okvis::kinematics::Transformation&, okvis::SpeedAndBias&, const okvis::Time&, const okvis::Time&, Eigen::Matrix<double, 15, 15>, Eigen::Matrix<double, 15, 15>_)’ cannot have cv-qualifier Eigen::Matrix<double, 15, 15>* jacobian) const { ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:295:6: error: ‘Frontend’ has not been declared bool Frontend::doWeNeedANewKeyframe( ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘bool okvis::doWeNeedANewKeyframe(const okvis::Estimator&, std::shared_ptrokvis::MultiFrame)’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:304:8: error: ‘isInitialized’ was not declared in this scope if (!isInitialized_) ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:364:17: error: ‘keyframeInsertionOverlapThreshold’ was not declared in this scope if (overlap > keyframeInsertionOverlapThreshold_ ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:365:18: error: ‘keyframeInsertionMatchingRatioThreshold’ was not declared in this scope && ratio > keyframeInsertionMatchingRatioThreshold_) ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:373:5: error: ‘Frontend’ has not been declared int Frontend::matchToKeyframes(okvis::Estimator& estimator, ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘int okvis::matchToKeyframes(okvis::Estimator&, const okvis::VioParameters&, uint64_t, bool&, bool, double*, bool)’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:398:44: error: ‘briskMatchingThreshold’ was not declared in this scope briskMatchingThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:403:7: error: ‘matcher’ was not declared in this scope matcher_->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:403:41: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:422:44: error: ‘briskMatchingThreshold’ was not declared in this scope briskMatchingThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:427:7: error: ‘matcher’ was not declared in this scope matcher_->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:427:41: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:434:27: error: ‘isInitialized’ was not declared in this scope if (kfcounter == 0 && isInitialized_) ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:436:73: error: there are no arguments to ‘runRansac3d2d’ that depend on a template parameter, so a declaration of ‘runRansac3d2d’ must be available [-fpermissive] estimator.multiFrame(currentFrameId), removeOutliers); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:436:73: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:440:10: error: ‘isInitialized’ was not declared in this scope if (!isInitialized_) { ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:442:53: error: there are no arguments to ‘runRansac2d2d’ that depend on a template parameter, so a declaration of ‘runRansac2d2d’ must be available [-fpermissive] removeOutliers, rotationOnly_tmp); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:464:5: error: ‘Frontend’ has not been declared int Frontend::matchToLastFrame(okvis::Estimator& estimator, ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘int okvis::matchToLastFrame(okvis::Estimator&, const okvis::VioParameters&, uint64_t, bool, bool)’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:487:42: error: ‘briskMatchingThreshold’ was not declared in this scope briskMatchingThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:492:5: error: ‘matcher’ was not declared in this scope matcher_->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:492:39: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:497:69: error: there are no arguments to ‘runRansac3d2d’ that depend on a template parameter, so a declaration of ‘runRansac3d2d’ must be available [-fpermissive] estimator.multiFrame(currentFrameId), removeOutliers); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:502:42: error: ‘briskMatchingThreshold’ was not declared in this scope briskMatchingThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:507:5: error: ‘matcher’ was not declared in this scope matcher_->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:507:39: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:513:8: error: ‘isInitialized’ was not declared in this scope if (!isInitialized_) ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:515:47: error: there are no arguments to ‘runRansac2d2d’ that depend on a template parameter, so a declaration of ‘runRansac2d2d’ must be available [-fpermissive] removeOutliers, rotationOnly); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:522:6: error: ‘Frontend’ has not been declared void Frontend::matchStereo(okvis::Estimator& estimator, ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘void okvis::matchStereo(okvis::Estimator&, std::shared_ptrokvis::MultiFrame)’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:540:44: error: ‘briskMatchingThreshold’ was not declared in this scope briskMatchingThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:545:7: error: ‘matcher’ was not declared in this scope matcher_->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:545:41: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:549:41: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:553:41: error: expected primary-expression before ‘>’ token matcher->match(matchingAlgorithm); ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:575:5: error: ‘Frontend’ has not been declared int Frontend::runRansac3d2d(okvis::Estimator& estimator, ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:645:5: error: ‘Frontend’ has not been declared int Frontend::runRansac2d2d(okvis::Estimator& estimator, ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘int okvis::runRansac2d2d(okvis::Estimator&, const okvis::VioParameters&, uint64_t, uint64_t, bool, bool, bool&)’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:756:28: error: ‘isInitialized’ was not declared in this scope if (initializePose && !isInitialized_) { ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: At global scope: /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp:813:6: error: ‘Frontend’ has not been declared void Frontend::initialiseBriskFeatureDetectors() { ^ /home/hdaoud/Documents/okvis/okvis_frontend/src/Frontend.cpp: In function ‘void okvis::initialiseBriskFeatureDetectors()’: /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:814:18: error: ‘featureDetectorMutexes’ was not declared in this scope for (auto it = featureDetectorMutexes_.begin(); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:818:3: error: ‘featureDetectors’ was not declared in this scope featureDetectors_.clear(); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:819:3: error: ‘descriptorExtractors’ was not declared in this scope descriptorExtractors_.clear(); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:820:26: error: ‘numCameras’ was not declared in this scope for (sizet i = 0; i < numCameras; ++i) { ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:829:17: error: ‘briskDetectionThreshold’ was not declared in this scope briskDetectionThreshold, briskDetectionOctaves, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:829:43: error: ‘briskDetectionOctaves’ was not declared in this scope briskDetectionThreshold, briskDetectionOctaves, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:830:17: error: ‘briskDetectionAbsoluteThreshold’ was not declared in this scope briskDetectionAbsoluteThreshold_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:831:17: error: ‘briskDetectionMaximumKeypoints’ was not declared in this scope briskDetectionMaximumKeypoints_))); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:836:17: error: ‘briskDescriptionRotationInvariance’ was not declared in this scope briskDescriptionRotationInvariance_, ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:837:17: error: ‘briskDescriptionScaleInvariance’ was not declared in this scope briskDescriptionScaleInvariance_))); ^ /home/hdaoud/Documents/okvis/okvisfrontend/src/Frontend.cpp:839:18: error: ‘featureDetectorMutexes’ was not declared in this scope for (auto it = featureDetectorMutexes_.begin();

[aforster]

Seems like that broke it even more... Can you just comment out the ifdef etc such that only this line stays:

https://github.com/ethz-asl/okvis/blob/master/okvis_frontend/include/okvis/Frontend.hpp#L62

and

https://github.com/ethz-asl/okvis/blob/master/okvis_multisensor_processing/include/okvis/ThreadedKFVio.hpp#L95

I must say I don't understand why you are getting this error. I have never encountered this issue on Ubuntu...

[HDaoud]

Hi Andreas,

Thanks for your solution, I followed the recommended solution above, and I started to get errors regarding openCV, so I added the following to CMakeLists.txt:

89 #OpenCV 90 find_package(OpenCV REQUIRED)

And it worked! :smile: I think you have to update the CMakeLists.txt to include OpenCV