Error during rosmake tum_ardrone

[rabenimmermehr]

Servus,

I'm new to ROS and am currently trying to set up this package.

I downloaded and installed ROS according to the tutorials, created a ros-workspace (not catkin) and followed your instructions.

But during the "rosmake tum_ardrone" i always get the following error:

make[3]: Betrete Verzeichnis '/home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/build' g++ -O3 -I. -I. -INONE/include -g -Wall -Wextra -pipe -ggdb -fPIC -mmmx -msse -msse -msse2 -msse3 -pthread -c progs/video_play_source.cc -o progs/vi$ progs/video_play_source.cc: In Funktion »void play(std::string)«: progs/video_play_source.cc:200:17: Fehler: es gibt keine Argumente für »usleep«, die von einem Templateparameter abhängen, weshalb eine Deklaration vo$ progs/video_play_source.cc:200:17: Anmerkung: (mit »-fpermissive« wird G++ den Code akzeptieren, aber die Verwendung eines nicht deklarierten Namens i$ progs/video_play_source.cc: In Instanziierung von »void play(std::string) [with C = CVD::Rgb; std::string = std::basic_string]«: progs/video_play_source.cc:241:30: von hier erfordert progs/video_play_source.cc:200:4: Fehler: »usleep« wurde in diesem Gültigkeitsbereich nicht definiert In file included from ./cvd/internal/convert_pixel_types.h:27:0, from ./cvd/image_convert.h:25, from ./cvd/colourspacebuffer.h:27, from ./cvd/videosource.h:13, from progs/video_play_source.cc:38: ./cvd/internal/scalar_convert.h: Im globalen Gültigkeitsbereich: ./cvd/internal/scalar_convert.h:112:21: Warnung: »CVD::Pixel::Internal::init_float_for_byte« definiert, aber nicht verwendet [-Wunused-variable] ./cvd/internal/scalar_convert.h:113:21: Warnung: »CVD::Pixel::Internal::init_double_for_byte« definiert, aber nicht verwendet [-Wunused-variable] make[3]: * [progs/video_play_source.o] Fehler 1 make[3]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/build' make[2]: * [libcvd_built] Fehler 2 make[2]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd' make[1]: * [all] Fehler 2 make[1]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/thirdparty' make: * [all] Fehler 2

FFMPEG is installed, do I need anything else?

Kind regards, Fabi

[rabenimmermehr]

Alrighty, following this tutorial http://gcc.gnu.org/gcc-4.7/porting_to.html I included . where necessary... Then I had to include cv_bridge which I did and now I am stuck with the following error:

/home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/allocator.hh:58:3: Fehler: »debug_initialize« wurde in diesem Gültigkeitsbereich nicht deklariert, und bei argumentabhängiger Suche am Ort der Instanziierung wurden keine Deklarationen gefunden [-fpermissive] In file included from /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/TooN.h:255:0, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/GLWindow2.h:12, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.h:24, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.cpp:23: /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/debug.hh:100:33: Anmerkung: »template void TooN::Internal::debuginitialize(P, int)« hier deklariert, später in Übersetzungseinheit In file included from /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/TooN.h:250:0, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/GLWindow2.h:12, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.h:24, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.cpp:23: /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/allocator.hh: In Instanziierung von »TooN::Internal::StackOrHeap<Size, Precision, false>::StackOrHeap() [with int Size = 3; Precision = int]«: /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/allocator.hh:105:43: erfordert durch »TooN::Internal::VectorAlloc<Size, Precision>::VectorAlloc() [with int Size = 3; Precision = int]« /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/vbase.hh:96:16: erfordert durch »TooN::Internal::GenericVBase<Size, Precision, Stride, Mem>::GenericVBase() [with int Size = 3; Precision = int; int Stride = 1; Mem = TooN::Internal::VectorAlloc<3, int>]« /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/vbase.hh:72:12: erfordert durch »TooN::Internal::VBase::VLayout<Size, Precision>::VLayout() [with int Size = 3; Precision = int]« /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/vector.hh:143:17: erfordert durch »TooN::Vector<Size, Precision, Base>::Vector() [with int Size = 3; Precision = int; Base = TooN::Internal::VBase]« /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/make_vector.hh:34:24: erfordert durch »TooN::Vector<3, Precision> TooN::makeVector(const Precision&, const Precision&, const Precision&) [with Precision = int]« /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.cpp:667:48: von hier erfordert /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/allocator.hh:58:3: Fehler: »debug_initialize« wurde in diesem Gültigkeitsbereich nicht deklariert, und bei argumentabhängiger Suche am Ort der Instanziierung wurden keine Deklarationen gefunden [-fpermissive] In file included from /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/TooN.h:255:0, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/GLWindow2.h:12, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.h:24, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.cpp:23: /home/fabi/ros_ws/tum_ardrone/thirdparty/TooN/include/TooN/internal/debug.hh:100:33: Anmerkung: »template void TooN::Internal::debuginitialize(P, int)« hier deklariert, später in Übersetzungseinheit In file included from /home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/include/cvd/internal/convert_pixel_types.h:27:0, from /home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/include/cvd/utility.h:11, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAM/MiniPatch.h:16, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAM/Tracker.h:26, from /home/fabi/ros_ws/tum_ardrone/src/stateestimation/PTAMWrapper.cpp:28: /home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/include/cvd/internal/scalar_convert.h: Im globalen Gültigkeitsbereich: /home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/include/cvd/internal/scalar_convert.h:112:21: Warnung: »CVD::Pixel::Internal::init_float_for_byte« definiert, aber nicht verwendet [-Wunused-variable] /home/fabi/ros_ws/tum_ardrone/thirdparty/libcvd/include/cvd/internal/scalar_convert.h:113:21: Warnung: »CVD::Pixel::Internal::init_double_for_byte« definiert, aber nicht verwendet [-Wunused-variable] make[4]: * [CMakeFiles/drone_stateestimation.dir/src/stateestimation/PTAMWrapper.cpp.o] Fehler 1 make[4]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/build' make[3]: * [CMakeFiles/drone_stateestimation.dir/all] Fehler 2 make[3]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/build' make[2]: * [all] Fehler 2 make[2]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone/build' make[1]: * [all] Fehler 2 make[1]: Verlasse Verzeichnis '/home/fabi/ros_ws/tum_ardrone'

[rabenimmermehr]

The solution to those errors: I needed to downgrade gcc to version 4.6. Just follow this guide replacing all the version-numbers with the correct ones: http://stackoverflow.com/questions/7832892/how-to-change-the-default-gcc-compiler-in-ubuntu

[Hendrik-Unger]

Did you manage to build the Package with gcc 4.6? I am currently trying to do the build with gcc 4.7.2: The solution to your last error is to uprgrade TooN to the current Version. But there is another error after that ;)

[rabenimmermehr]

It didn't build right away. You had to change the g++ references somewhere too and then I got another error (some missing libraries) which can be resolved following this guide: http://faculty.washington.edu/rjl/uwamath583s11/sphinx/notes/html/lapack_install.html

Yeah, I tried that, but it was just an endless stream of errors. That's why I tried to compile it on the virtual image provided by ROS, where it didn't throw any major errors. Problem is, that the virtual machine is too slow. The only difference to my Ubuntu image was the version of gcc, so I downgraded it.

[Hendrik-Unger]

Oh that was a good advice. Did the downgrade and it took quite a long time before an error was thrown :)
I installed the library that is mentioned in your Link (http://faculty.washington.edu/rjl/uwamath583s11/sphinx/notes/html/lapack_install.html) via sudo apt-get install liblapack-dev --> if I understand correctly for Ubuntu that should be enough.

but still get these Errors:

g++ -o progs/calibrate progs/calibrate.o -L. -lcvd -ltiff -ljpeg -lpng -lpng -llapack -lGLU -lGL -lrt -L -lX11 -lXext -pthread ./libcvd.so: undefined reference to XMoveWindow' ./libcvd.so: undefined reference toXCreateGlyphCursor' ./libcvd.so: undefined reference to XStoreName' ./libcvd.so: undefined reference toXLookupString' ./libcvd.so: undefined reference to XFreeFont' ./libcvd.so: undefined reference toXSetClassHint' ./libcvd.so: undefined reference to XCreateWindow' ./libcvd.so: undefined reference toXCreateColormap' ./libcvd.so: undefined reference to XOpenDisplay' ./libcvd.so: undefined reference toXDestroyWindow' ./libcvd.so: undefined reference to XCloseDisplay' ./libcvd.so: undefined reference toXUnmapWindow' ./libcvd.so: undefined reference to XNextEvent' ./libcvd.so: undefined reference toXSetWMProtocols' ./libcvd.so: undefined reference to XResizeWindow' ./libcvd.so: undefined reference toXMapWindow' ./libcvd.so: undefined reference to XSelectInput' ./libcvd.so: undefined reference toXFlush' ./libcvd.so: undefined reference to XWarpPointer' ./libcvd.so: undefined reference toXLoadQueryFont' ./libcvd.so: undefined reference to XDefineCursor' ./libcvd.so: undefined reference toXInternAtom' ./libcvd.so: undefined reference to XQueryPointer' ./libcvd.so: undefined reference toXUndefineCursor' ./libcvd.so: undefined reference to XGetWindowAttributes' ./libcvd.so: undefined reference toXPending'

That looks more like there is something wrong with X11, doesn't it? Unfortunately my hobby programming skills together with linux are quite poor.

I am running on a VM to, hope it will be fast enough since it is quite a pain to boot Linux from an external drive on a Mac. What configuration has the system you used?

[rabenimmermehr]

I'm not too experienced in Ubuntu either, sorry.

I was running it on a Windows with some i5 Setup, don't know which generation. It is important that you activate 3D-Acceleration, otherwise you will get segmentation faults.

[Hendrik-Unger]

Thanks for your help anyway. I took me a big step further.

Hm. So my Laptop seems to be to slow. I will test it if I manage to run it :)

[rabenimmermehr]

Step by step guide: You download & install ardrone_autonomy as instructed in the tutorial. Afterwards you do the following:

sudo apt-get install gcc-4.6 sudo apt-get install g++-4.6 sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.6 50 sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.6 50 echo 'export CXX=/usr/bin/g++-4.6' >> ~/.bashrc echo 'export CC=/usr/bin/gcc-4.6' >> ~/.bashrc

Then you can continue downloading and compiling the tum_ardrone package

[23pointsNorth]

Hello. Did the last suggestion work(downgrading gcc)? Up until now I was using gcc-4.7.2. Managed to clear a bit of the errors (like the missing header for usleep) But came across this: tum_ardrone/src/stateestimation/GLWindow2.cc:106:17: error: cannot convert ‘CVD::ImageRef’ to ‘GLdouble {aka double}’ for argument ‘1’ to ‘void glOrtho(GLdouble, GLdouble, GLdouble, GLdouble, GLdouble, GLdouble)’

Any suggestions?

[Hendrik-Unger]

Hi, downgrading GCC solved a lot of the problems I encountered. There was also a bug in libCVD, I had a conversation with Edward Rosten about it. I dont know if the libCVD package is already upgraded here, so you maybe want to do it yourself. Just get it from git and copy it to the correct folder.

Doing all this was as far as I remember enough to get a good build. Good luck

[lppier]

I'm also having an issue with this. Stuck at this... can anyone help? Using Ubuntu 12.04, ROS Hydro

It reports just 1 build error which is similar to Hendrik's ... :(

{------------------------------------------------------------------------------- Generating config... configuration unchanged configure: creating ./config.status config.status: creating Makefile cd build && export CPATH=../../TooN/include && make make[3]: Entering directory /opt/ros/hydro/tum_ardrone/thirdparty/libcvd/build' /usr/bin/g++-4.6 -o progs/cvd_display_image progs/cvd_display_image.o -L. -lcvd -ltiff -ljpeg -lpng -lpng -lGLU -lGL -lrt -L -lX11 -lXext -pthread ./libcvd.so: undefined reference toXMoveWindow' ./libcvd.so: undefined reference to XCreateGlyphCursor' ./libcvd.so: undefined reference toXStoreName' ./libcvd.so: undefined reference to XLookupString' ./libcvd.so: undefined reference toXFreeFont' ./libcvd.so: undefined reference to XSetClassHint' ./libcvd.so: undefined reference toXCreateWindow' ./libcvd.so: undefined reference to XCreateColormap' ./libcvd.so: undefined reference toXOpenDisplay' ./libcvd.so: undefined reference to XDestroyWindow' ./libcvd.so: undefined reference toXCloseDisplay' ./libcvd.so: undefined reference to XUnmapWindow' ./libcvd.so: undefined reference toXNextEvent' ./libcvd.so: undefined reference to XSetWMProtocols' ./libcvd.so: undefined reference toXResizeWindow' ./libcvd.so: undefined reference to XMapWindow' ./libcvd.so: undefined reference toXSelectInput' ./libcvd.so: undefined reference to XFlush' ./libcvd.so: undefined reference toXWarpPointer' ./libcvd.so: undefined reference to XLoadQueryFont' ./libcvd.so: undefined reference toXDefineCursor' ./libcvd.so: undefined reference to XInternAtom' ./libcvd.so: undefined reference toXQueryPointer' ./libcvd.so: undefined reference to XUndefineCursor' ./libcvd.so: undefined reference toXGetWindowAttributes' ./libcvd.so: undefined reference to XPending' collect2: ld returned 1 exit status make[3]: *** [progs/cvd_display_image] Error 1 make[3]: Leaving directory/opt/ros/hydro/tum_ardrone/thirdparty/libcvd/build' make[2]: * [libcvd_built] Error 2 make[2]: Leaving directory `/opt/ros/hydro/tum_ardrone/thirdparty/libcvd' make[1]: * [all] Error 2 make[1]: Leaving directory`/opt/ros/hydro/tum_ardrone/thirdparty'

[Hendrik-Unger]

Did you already upgrade libCVD? After I did it those errors disappeared.

[lppier]

Hi Hendrik

Thanks I managed to compile it. Were u able to get navdata from the ardrone?

Pier. On Jan 28, 2014 4:18 PM, "Hendrik-Unger" notifications@github.com wrote:

Did you already upgrade libCVD? After I did it those errors disappeared.

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33458717 .

[Hendrik-Unger]

How exactly do you mean that? The program showed everything it was supposed to show. I did not try to fetch any packages ROS might publicate with data from the drone.

2014-01-28 lppier notifications@github.com

Hi Hendrik

Thanks I managed to compile it. Were u able to get navdata from the ardrone?

Pier. On Jan 28, 2014 4:18 PM, "Hendrik-Unger" notifications@github.com wrote:

Did you already upgrade libCVD? After I did it those errors disappeared.

Reply to this email directly or view it on GitHub< https://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33458717>

.

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33459405 .

[lppier]

In my drone gui top right under Node Communication Status, the NavData is 0Hz. I'm not able to get any video in my case. The PTAM Drone Map View shows up though, but not the video. :/

Pier.

On Tue, Jan 28, 2014 at 4:36 PM, Hendrik-Unger notifications@github.comwrote:

How exactly do you mean that? The program showed everything it was supposed to show. I did not try to fetch any packages ROS might publicate with data from the drone.

2014-01-28 lppier notifications@github.com

Hi Hendrik

Thanks I managed to compile it. Were u able to get navdata from the ardrone?

Pier. On Jan 28, 2014 4:18 PM, "Hendrik-Unger" notifications@github.com wrote:

Did you already upgrade libCVD? After I did it those errors disappeared.

Reply to this email directly or view it on GitHub< https://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33458717

.

Reply to this email directly or view it on GitHub< https://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33459405>

.

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33459669 .

[lppier]

Hi Hendrik,

I'm still trying to get this to work... Can I check with you : 1) Are you using Ubuntu 12.04 on it's own partition? I'm using Ubuntu in Parallels (mac os) , not sure if that is the problem. 2) What ROS version are you using? I'm using Hydro.

Thank you very much.

Pier.

On Tue, Jan 28, 2014 at 5:10 PM, Pier madstrum@gmail.com wrote:

In my drone gui top right under Node Communication Status, the NavData is 0Hz. I'm not able to get any video in my case. The PTAM Drone Map View shows up though, but not the video. :/

Pier.

On Tue, Jan 28, 2014 at 4:36 PM, Hendrik-Unger notifications@github.comwrote:

How exactly do you mean that? The program showed everything it was supposed to show. I did not try to fetch any packages ROS might publicate with data from the drone.

2014-01-28 lppier notifications@github.com

Hi Hendrik

Thanks I managed to compile it. Were u able to get navdata from the ardrone?

Pier. On Jan 28, 2014 4:18 PM, "Hendrik-Unger" notifications@github.com wrote:

Did you already upgrade libCVD? After I did it those errors disappeared.

Reply to this email directly or view it on GitHub<

https://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33458717>

.

Reply to this email directly or view it on GitHub< https://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33459405>

.

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33459669 .

[Hendrik-Unger]

Oh sorry I forgot to answer you.

I used Ubuntu 12.04 on an own Partition and ROS Groovy. Since the AR Drone Package was developed on Fuerte, this might cause problems too.

I think your Video not showing problem is caused by the virtualization. I remember reading something about this issue, but I am not quite sure. Additionally the algorithms in the package use a lot calculation power. Did you read the papers where PTAM is described? The used something like a dual core 2.66 Ghz machine.
My 2011 macbook air really struggled to run this. It worked, but the map updates have been quite slow.

Installing Ubuntu on a Mac is not the biggest problem, there are good guides for every model on askubunutu.com. Together with Refit it is also easy to choose what to boot.

[lppier]

Hi Hendrik,

Do you get this error in when running ardrone_autonomy ardrone_driver ?

Tag 34866 is an unknown navdata option tag One option (0) is not a valid option because its size is zero [Navdata] Checksum failed : 989 (distant) / 35945 (local)

Under the drone_stateestimation instance I always get this :

Waiting for first navdata to determine drone version!

Any idea what could it be? Who is supposed to send navdata? Really appreciate your help. I installed Hydro, now wondering whether to reinstall ROS using Fuerte / Groovy .

Thanks.

Pier.

Pier.

On Wed, Jan 29, 2014 at 4:32 PM, Hendrik-Unger notifications@github.comwrote:

Oh sorry I forgot to answer you.

I used Ubuntu 12.04 on an own Partition and ROS Groovy. Since the AR Drone Package was developed on Fuerte, this might cause problems too.

I think your Video not showing problem is caused by the virtualization. I remember reading something about this issue, but I am not quite sure. Additionally the algorithms in the package use a lot calculation power. Did you read the papers where PTAM is described? The used something like a quad core 3.0 Ghz machine.

My 2011 macbook air really struggled to run this. It worked, but the map updates have been quite slow.

Installing Ubuntu on a Mac is not the biggest problem, there are good guides for every model on askubunutu.com. Together with Refit it is also easy to choose what to boot.

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33565071 .

[Hendrik-Unger]

I dropped the drone project some time ago, so I can not check, because I have no drone at hand. But as far as I remember I have never seen this error.

I think the AR Drone Autonomy Package is supposed to send navdata to the tum package.

I'd rather use a native install of Linux instead of a VM. I struggled with this too, because my hard drive size is very limited, but it was worth the effort because the program started working :)

[lppier]

Hi Hendrik,

It's ok, thanks. I'm grateful for your help. Let me try installing Fuerte instead of Hydro, maybe that will help.

Pier.

On Wed, Jan 29, 2014 at 8:59 PM, Hendrik-Unger notifications@github.comwrote:

I dropped the drone project some time ago, so I can not check, because I have no drone at hand. But as far as I remember I have never seen this error.

I think the AR Drone Autonomy Package is supposed to send navdata to the tum package.

I'd rather use a native install of Linux instead of a VM. I struggled with this too, because my hard drive size is very limited, but it was worth the effort because the program started working :)

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33582081 .

[lppier]

Oh I did try a native install , seems smoother.

Pier.

On Wed, Jan 29, 2014 at 9:38 PM, Pier madstrum@gmail.com wrote:

Hi Hendrik,

It's ok, thanks. I'm grateful for your help. Let me try installing Fuerte instead of Hydro, maybe that will help.

Pier.

On Wed, Jan 29, 2014 at 8:59 PM, Hendrik-Unger notifications@github.comwrote:

I dropped the drone project some time ago, so I can not check, because I have no drone at hand. But as far as I remember I have never seen this error.

I think the AR Drone Autonomy Package is supposed to send navdata to the tum package.

I'd rather use a native install of Linux instead of a VM. I struggled with this too, because my hard drive size is very limited, but it was worth the effort because the program started working :)

Reply to this email directly or view it on GitHubhttps://github.com/tum-vision/tum_ardrone/issues/5#issuecomment-33582081 .

[lesire]

We have a hydro-devel branch now which is compliant with the official ardrone driver from AutonomyLab. Could you test it and report any issue or close this issue if everything goes well?

[rohanbhargava11]

We also want to pull in the latest libcvd library. I had similar problems and installed libcvd from https://github.com/edrosten/libcvd. This solved most of the problems discussed here.

[lesire]

the libcvd is now on an archive with other external libs; update the archive and submit a pull request so that I can test it both on groovy and hydro

[lesire]

fixed by #19