error: for statement expected before ‘uint16_t’

[jiapei100]

I'm quite sure #pragma omp parallel for schedule(dynamic) brings me the following ERROR message if I build with kinfu enabled, for if I comment out this line 262 #pragma omp parallel for schedule(dynamic) in file rs-kinfu.cpp, it compiles successfully.

....../librealsense/wrappers/opencv/kinfu/rs-kinfu.cpp: In lambda function:
....../librealsense/wrappers/opencv/kinfu/rs-kinfu.cpp:266:17: error: for statement expected before ‘uint16_t’
                 uint16_t* p_depth_frame = reinterpret_cast<uint16_t*>(const_cast<void*>(d.get_data()));

How to use OpenMP for kinfu in librealsense?

cheers
Pei

[eokeeffe]

Two things, I was able to fix the issue with the compilation, just swap the lines as such, then add
the depth_frame as a shared resource

uint16_t* p_depth_frame = reinterpret_cast<uint16_t*>(const_cast<void*>(d.get_data()));
#pragma omp parallel for shared(p_depth_frame) schedule(dynamic)

secondly you'll want to make sure you have this in the console or your .bashrc file if using opencv 4.x and above
export OPENCV_OPENCL_DEVICE_MAX_WORK_GROUP_SIZE=512

[jiapei100]

@eokeeffe

Thank you very much ... You saved my life... Thanks...