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Compilation fails with opencv-git [edited] #126

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TomasBedrnik opened this issue Oct 13, 2016 · 10 comments
Closed

Compilation fails with opencv-git [edited] #126

TomasBedrnik opened this issue Oct 13, 2016 · 10 comments

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@TomasBedrnik
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Hi,
I'm trying to compile rtabmap on Archlinux, but it fails:
error: ‘class std::unordered_map<unsigned int, std::vector<unsigned int> >’ has no member named ‘serialize’
I tried git and 0.11.8 version - both same probem. I have gcc 6.2.1 and boost 1.61.0.

cmake-output.txt
make-output.txt

I don't know if the problem is in my system or rtabmap has issues with some of new version of libraries in my system.

Thanks
Tomas
@matlabbe
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The error is FLANN related, which uses std::unordered_map objects. Can you tell me if you are able to build standalone flann-1.8.4-src?

In lsh_table.h, there is this code:

// TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP
#if USE_UNORDERED_MAP
#include <unordered_map>
#else
#include <map>
#endif

When rtabmap is building, USE_UNORDERED_MAP is not defined, so I guess you could try to set #define USE_UNORDERED_MAP 1 just before these lines:

// TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP
#define USE_UNORDERED_MAP 1
#if USE_UNORDERED_MAP
#include <unordered_map>
#else
#include <map>
#endif

cheers

@TomasBedrnik
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Thanks for fast reply.

This path is needed to compile flann: http://pkgs.fedoraproject.org/cgit/rpms/flann.git/plain/flann-1.8.4-gcc6.patch and some aditional changes for python bindings.

Unfortunately adding #define USE_UNORDERED_MAP 1 didn't change anything.

@matlabbe
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I tried with Fedora and gcc 6.2.1, and with default binaries available (e.g. pcl-devel). Minor this issue, it builds correctly with this config:

-- --------------------------------------------
-- Info :
--   Version : 0.11.11
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp
--   With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)
--   With Freenect             = NO (libfreenect not found)
--   With OpenNI2              = NO (OpenNI2 not found)
--   With Freenect2            = NO (libfreenect2 not found)
--   With dc1394               = NO (dc1394 not found)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = NO (WITH_G2O=OFF)
--   With GTSAM                = NO (GTSAM not found)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = NO (librealsense not found)
--   With OCTOMAP              = YES (License: BSD)
--   With Qt4                  = YES (License: Open Source or Commercial)
-- --------------------------------------------

However, if I build with g2o, the -std=c++11 flag is added to compilation instructions, and then the build fails with Openni errors like these:

/usr/include/ni/XnCppWrapper.h: In constructor ‘xn::Context::Context()’:
/usr/include/ni/XnCppWrapper.h:8658:40: error: class ‘xn::Context’ does not have any field named ‘m_bUsingDeprecatedAPI’
   inline Context() : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL) {}
                                        ^~~~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:8658:70: error: class ‘xn::Context’ does not have any field named ‘m_bAllocated’
   inline Context() : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL) {}
                                                                      ^~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: In constructor ‘xn::Context::Context(XnContext*)’:
/usr/include/ni/XnCppWrapper.h:8665:59: error: class ‘xn::Context’ does not have any field named ‘m_bUsingDeprecatedAPI’
   inline Context(XnContext* pContext) : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL)
                                                           ^~~~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:8665:89: error: class ‘xn::Context’ does not have any field named ‘m_bAllocated’
   inline Context(XnContext* pContext) : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL)
                                                                                         ^~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: In copy constructor ‘xn::Context::Context(const xn::Context&)’:
/usr/include/ni/XnCppWrapper.h:8676:60: error: class ‘xn::Context’ does not have any field named ‘m_bUsingDeprecatedAPI’
   inline Context(const Context& other) : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL)
                                                            ^~~~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:8676:90: error: class ‘xn::Context’ does not have any field named ‘m_bAllocated’
   inline Context(const Context& other) : m_pContext(NULL), m_bUsingDeprecatedAPI(FALSE), m_bAllocated(FALSE), m_hShuttingDownCallback(NULL)
                                                                                          ^~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: In static member function ‘static void xn::Context::FreeLicensesList(XnLicense*)’:
/usr/include/ni/XnCppWrapper.h:8955:32: error: ‘xnFreeLicensesList’ was not declared in this scope
    xnFreeLicensesList(aLicenses);
                                ^
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::Context::UnregisterFromErrorStateChange(XnCallbackHandle)’:
/usr/include/ni/XnCppWrapper.h:9256:64: error: ‘xnUnregisterFromGlobalErrorStateChange’ was not declared in this scope
    xnUnregisterFromGlobalErrorStateChange(m_pContext, hCallback);
                                                                ^
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::Context::UnregisterFromNodeCreation(XnCallbackHandle)’:
/usr/include/ni/XnCppWrapper.h:9295:81: error: ‘xnUnregisterFromNodeCreation’ was not declared in this scope
    xnUnregisterFromNodeCreation(m_pContext, pCreationCookie->hUnderlyingCallback);
                                                                                 ^
/usr/include/ni/XnCppWrapper.h:9296:28: error: ‘xnOSFree’ was not declared in this scope
    xnOSFree(pCreationCookie);
                            ^
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::Context::UnregisterFromNodeDestruction(XnCallbackHandle)’:
/usr/include/ni/XnCppWrapper.h:9335:87: error: ‘xnUnregisterFromNodeDestruction’ was not declared in this scope
    xnUnregisterFromNodeDestruction(m_pContext, pDestructionCookie->hUnderlyingCallback);
                                                                                       ^
/usr/include/ni/XnCppWrapper.h:9336:31: error: ‘xnOSFree’ was not declared in this scope
    xnOSFree(pDestructionCookie);
                               ^
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::Context::SetHandle(XnContext*)’:
/usr/include/ni/XnCppWrapper.h:9498:9: error: ‘m_bUsingDeprecatedAPI’ was not declared in this scope
     if (m_bUsingDeprecatedAPI && m_bAllocated)
         ^~~~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:9498:34: error: ‘m_bAllocated’ was not declared in this scope
     if (m_bUsingDeprecatedAPI && m_bAllocated)
                                  ^~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:9502:32: error: ‘xnForceShutdown’ was not declared in this scope
      xnForceShutdown(m_pContext);
                                ^
/usr/include/ni/XnCppWrapper.h:9506:73: error: ‘xnContextUnregisterFromShutdown’ was not declared in this scope
      xnContextUnregisterFromShutdown(m_pContext, m_hShuttingDownCallback);
                                                                         ^
/usr/include/ni/XnCppWrapper.h:9507:33: error: ‘xnContextRelease’ was not declared in this scope
      xnContextRelease(m_pContext);
                                 ^
/usr/include/ni/XnCppWrapper.h:9513:5: error: ‘XnStatus’ was not declared in this scope
     XnStatus nRetVal = xnContextAddRef(pContext);
     ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9514:15: error: ‘nRetVal’ was not declared in this scope
     XN_ASSERT(nRetVal == XN_STATUS_OK);
               ^~~~~~~
In file included from /usr/include/ni/XnStatusCodes.h:27:0,
                 from /usr/include/ni/XnMacros.h:27,
                 from /usr/include/ni/XnOS.h:28,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni.h:47,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:44,
                 from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:41,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/ni/XnCppWrapper.h:9514:26: error: expected ‘)’ before numeric constant
     XN_ASSERT(nRetVal == XN_STATUS_OK);
                          ^
In file included from /usr/include/pcl-1.8/pcl/io/openni_camera/openni.h:50:0,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:44,
                 from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:41,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/ni/XnCppWrapper.h:9517:113: error: ‘xnContextRegisterForShutdown’ was not declared in this scope
 al = xnContextRegisterForShutdown(pContext, ContextShuttingDownCallback, this, &m_hShuttingDownCallback);
                                                                                                        ^
In file included from /usr/include/ni/XnStatusCodes.h:27:0,
                 from /usr/include/ni/XnMacros.h:27,
                 from /usr/include/ni/XnOS.h:28,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni.h:47,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:44,
                 from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:41,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/ni/XnCppWrapper.h:9518:26: error: expected ‘)’ before numeric constant
     XN_ASSERT(nRetVal == XN_STATUS_OK);
                          ^
In file included from /usr/include/pcl-1.8/pcl/io/openni_camera/openni.h:50:0,
                 from /usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:44,
                 from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:41,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::Context::TakeOwnership(XnContext*)’:
/usr/include/ni/XnCppWrapper.h:9530:30: error: ‘xnContextRelease’ was not declared in this scope
     xnContextRelease(pContext);
                              ^
/usr/include/ni/XnCppWrapper.h: In member function ‘int xn::Context::Shutdown()’:
/usr/include/ni/XnCppWrapper.h:9585:26: error: ‘xnShutdown’ was not declared in this scope
     xnShutdown(m_pContext);
                          ^
/usr/include/ni/XnCppWrapper.h: In member function ‘int xn::Context::NodeCreationCallback(XnContext*, XnNodeHandle, void*)’:
/usr/include/ni/XnCppWrapper.h:9625:25: error: ‘struct xn::Context::NodeCreationCookie’ has no member named ‘pFunc’
    pNodeCreationCookie->pFunc(context, createdNode, pNodeCreationCookie->pCookie);
                         ^~~~~
/usr/include/ni/XnCppWrapper.h: In member function ‘int xn::Context::NodeDestructionCallback(XnContext*, const int*, void*)’:
/usr/include/ni/XnCppWrapper.h:9632:25: error: ‘struct xn::Context::NodeDestructionCookie’ has no member named ‘pFunc’
    pNodeCreationCookie->pFunc(context, strDestroyedNodeName, pNodeCreationCookie->pCookie);
                         ^~~~~
/usr/include/ni/XnCppWrapper.h: At global scope:
/usr/include/ni/XnCppWrapper.h:9672:30: error: expected ‘)’ before ‘xRes’
   inline Resolution(XnUInt32 xRes, XnUInt32 yRes) : m_nXRes(xRes), m_nYRes(yRes)
                              ^~~~
/usr/include/ni/XnCppWrapper.h:9683:27: error: ‘XnChar’ does not name a type
   inline Resolution(const XnChar* strName)
                           ^~~~~~
/usr/include/ni/XnCppWrapper.h:9698:10: error: ‘XnUInt32’ does not name a type
   inline XnUInt32 GetXResolution() const { return m_nXRes; }
          ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9702:10: error: ‘XnUInt32’ does not name a type
   inline XnUInt32 GetYResolution() const { return m_nYRes; }
          ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9706:16: error: ‘XnChar’ does not name a type
   inline const XnChar* GetName() const { return m_strName; }
                ^~~~~~
/usr/include/ni/XnCppWrapper.h:9710:3: error: ‘XnUInt32’ does not name a type
   XnUInt32 m_nXRes;
   ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9711:3: error: ‘XnUInt32’ does not name a type
   XnUInt32 m_nYRes;
   ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9712:9: error: ‘XnChar’ does not name a type
   const XnChar* m_strName;
         ^~~~~~
/usr/include/ni/XnCppWrapper.h: In constructor ‘xn::Resolution::Resolution(XnResolution)’:
/usr/include/ni/XnCppWrapper.h:9661:4: error: ‘m_nXRes’ was not declared in this scope
    m_nXRes = xnResolutionGetXRes(res);
    ^~~~~~~
/usr/include/ni/XnCppWrapper.h:9661:37: error: ‘xnResolutionGetXRes’ was not declared in this scope
    m_nXRes = xnResolutionGetXRes(res);
                                     ^
/usr/include/ni/XnCppWrapper.h:9662:4: error: ‘m_nYRes’ was not declared in this scope
    m_nYRes = xnResolutionGetYRes(res);
    ^~~~~~~
/usr/include/ni/XnCppWrapper.h:9662:37: error: ‘xnResolutionGetYRes’ was not declared in this scope
    m_nYRes = xnResolutionGetYRes(res);
                                     ^
/usr/include/ni/XnCppWrapper.h:9663:4: error: ‘m_strName’ was not declared in this scope
    m_strName = xnResolutionGetName(res);
    ^~~~~~~~~
/usr/include/ni/XnCppWrapper.h:9663:39: error: ‘xnResolutionGetName’ was not declared in this scope
    m_strName = xnResolutionGetName(res);
                                       ^
/usr/include/ni/XnCppWrapper.h: In constructor ‘xn::Resolution::Resolution(const int*)’:
/usr/include/ni/XnCppWrapper.h:9685:43: error: ‘xnResolutionGetFromName’ was not declared in this scope
    m_Res = xnResolutionGetFromName(strName);
                                           ^
/usr/include/ni/XnCppWrapper.h:9686:4: error: ‘m_nXRes’ was not declared in this scope
    m_nXRes = xnResolutionGetXRes(m_Res);
    ^~~~~~~
/usr/include/ni/XnCppWrapper.h:9686:39: error: ‘xnResolutionGetXRes’ was not declared in this scope
    m_nXRes = xnResolutionGetXRes(m_Res);
                                       ^
/usr/include/ni/XnCppWrapper.h:9687:4: error: ‘m_nYRes’ was not declared in this scope
    m_nYRes = xnResolutionGetYRes(m_Res);
    ^~~~~~~
/usr/include/ni/XnCppWrapper.h:9687:39: error: ‘xnResolutionGetYRes’ was not declared in this scope
    m_nYRes = xnResolutionGetYRes(m_Res);
                                       ^
/usr/include/ni/XnCppWrapper.h:9688:4: error: ‘m_strName’ was not declared in this scope
    m_strName = xnResolutionGetName(m_Res);
    ^~~~~~~~~
/usr/include/ni/XnCppWrapper.h:9688:41: error: ‘xnResolutionGetName’ was not declared in this scope
    m_strName = xnResolutionGetName(m_Res);
                                         ^
/usr/include/ni/XnCppWrapper.h: At global scope:
/usr/include/ni/XnCppWrapper.h:9718:9: error: ‘XnStatus’ does not name a type
  inline XnStatus NodeInfoList::FilterList(Context& context, Query& query)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::ProductionNode::GetContext(xn::Context&) const’:
/usr/include/ni/XnCppWrapper.h:9725:66: error: ‘xnGetRefContextFromNodeHandle’ was not declared in this scope
   context.TakeOwnership(xnGetRefContextFromNodeHandle(GetHandle()));
                                                                  ^
/usr/include/ni/XnCppWrapper.h: In member function ‘xn::Context xn::ProductionNode::GetContext() const’:
/usr/include/ni/XnCppWrapper.h:9730:66: error: ‘xnGetRefContextFromNodeHandle’ was not declared in this scope
   XnContext* pContext = xnGetRefContextFromNodeHandle(GetHandle());
                                                                  ^
/usr/include/ni/XnCppWrapper.h:9732:28: error: ‘xnContextRelease’ was not declared in this scope
   xnContextRelease(pContext);
                            ^
/usr/include/ni/XnCppWrapper.h: In member function ‘xn::NodeInfoList& xn::NodeInfo::GetNeededNodes() const’:
/usr/include/ni/XnCppWrapper.h:9740:60: error: ‘xnNodeInfoGetNeededNodes’ was not declared in this scope
    XnNodeInfoList* pList = xnNodeInfoGetNeededNodes(m_pInfo);
                                                            ^
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::NodeInfo::SetUnderlyingObject(XnNodeInfo*)’:
/usr/include/ni/XnCppWrapper.h:9754:3: error: ‘m_bOwnerOfNode’ was not declared in this scope
   m_bOwnerOfNode = FALSE;
   ^~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: At global scope:
/usr/include/ni/XnCppWrapper.h:9759:9: error: ‘XnBool’ does not name a type
  inline XnBool FrameSyncCapability::CanFrameSyncWith(Generator& other) const
         ^~~~~~
/usr/include/ni/XnCppWrapper.h:9764:9: error: ‘XnStatus’ does not name a type
  inline XnStatus FrameSyncCapability::FrameSyncWith(Generator& other)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9769:9: error: ‘XnStatus’ does not name a type
  inline XnStatus FrameSyncCapability::StopFrameSyncWith(Generator& other)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9774:9: error: ‘XnBool’ does not name a type
  inline XnBool FrameSyncCapability::IsFrameSyncedWith(Generator& other) const
         ^~~~~~
/usr/include/ni/XnCppWrapper.h:9779:9: error: ‘XnStatus’ does not name a type
  inline XnStatus NodeInfo::GetInstance(ProductionNode& node) const
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9801:9: error: ‘XnStatus’ does not name a type
  inline XnStatus Device::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9810:9: error: ‘XnStatus’ does not name a type
  inline XnStatus Recorder::Create(Context& context, const XnChar* strFormatName /*= NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9819:9: error: ‘XnStatus’ does not name a type
  inline XnStatus Player::Create(Context& context, const XnChar* strFormatName)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9828:9: error: ‘XnStatus’ does not name a type
  inline XnStatus DepthGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9837:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockDepthGenerator::Create(Context& context, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9846:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockDepthGenerator::CreateBasedOn(DepthGenerator& other, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9857:9: error: ‘XnStatus’ does not name a type
  inline XnStatus ImageGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9866:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockImageGenerator::Create(Context& context, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9875:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockImageGenerator::CreateBasedOn(ImageGenerator& other, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9886:9: error: ‘XnStatus’ does not name a type
  inline XnStatus IRGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9895:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockIRGenerator::Create(Context& context, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9904:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockIRGenerator::CreateBasedOn(IRGenerator& other, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9915:9: error: ‘XnStatus’ does not name a type
  inline XnStatus GestureGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9924:9: error: ‘XnStatus’ does not name a type
  inline XnStatus SceneAnalyzer::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9934:9: error: ‘XnStatus’ does not name a type
  inline XnStatus HandsGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9943:9: error: ‘XnStatus’ does not name a type
  inline XnStatus UserGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9952:9: error: ‘XnStatus’ does not name a type
  inline XnStatus AudioGenerator::Create(Context& context, Query* pQuery/*=NULL*/, EnumerationErrors* pErrors/*=NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9961:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockAudioGenerator::Create(Context& context, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9970:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockAudioGenerator::CreateBasedOn(AudioGenerator& other, const XnChar* strName /* = NULL */)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9981:9: error: ‘XnStatus’ does not name a type
  inline XnStatus MockRawGenerator::Create(Context& context, const XnChar* strName /*= NULL*/)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9990:9: error: ‘XnStatus’ does not name a type
  inline XnStatus Codec::Create(Context& context, XnCodecID codecID, ProductionNode& initializerNode)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:9999:9: error: ‘XnStatus’ does not name a type
  inline XnStatus ScriptNode::Run(EnumerationErrors* pErrors)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10004:9: error: ‘XnStatus’ does not name a type
  inline XnStatus ScriptNode::Create(Context& context, const XnChar* strFormat)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10017:31: error: variable or field ‘XN_API_DEPRECATED’ declared void
  inline void XN_API_DEPRECATED("Use xn::Version::Current() instead") GetVersion(XnVersion& Version)
                               ^
/usr/include/ni/XnCppWrapper.h:10029:54: error: expected ‘)’ before ‘handler’
   StateChangedCallbackTranslator(StateChangedHandler handler, void* pCookie) : m_UserHandler(handler), m_pUserCookie(pCookie), m_hCallback(NULL) {}
                                                      ^~~~~~~
/usr/include/ni/XnCppWrapper.h:10031:3: error: ‘XnStatus’ does not name a type
   XnStatus Register(_XnRegisterStateChangeFuncPtr xnFunc, XnNodeHandle hNode)
   ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10041:10: error: ‘XnStatus’ does not name a type
   static XnStatus RegisterToUnderlying(_XnRegisterStateChangeFuncPtr xnFunc, XnNodeHandle hNode, StateChangedHandler handler, void* pCookie, XnCallbackHandle& hCallback)
          ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10060:10: error: ‘XnStatus’ does not name a type
   static XnStatus UnregisterFromUnderlying(_XnUnregisterStateChangeFuncPtr xnFunc, XnNodeHandle hNode, XnCallbackHandle hCallback)
          ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10073:4: error: ‘StateChangedHandler’ does not name a type
    StateChangedHandler userHandler;
    ^~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:10078:15: error: variable or field ‘XN_CALLBACK_TYPE’ declared void
   static void XN_CALLBACK_TYPE StateChangedCallback(XnNodeHandle hNode, void* pCookie)
               ^~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h:10078:15: error: expected ‘;’ at end of member declaration
/usr/include/ni/XnCppWrapper.h:10085:3: error: ‘StateChangedHandler’ does not name a type
   StateChangedHandler m_UserHandler;
   ^~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: In member function ‘int xn::StateChangedCallbackTranslator::StateChangedCallback(XnNodeHandle, void*)’:
/usr/include/ni/XnCppWrapper.h:10082:12: error: ‘class xn::StateChangedCallbackTranslator’ has no member named ‘m_UserHandler’
    pTrans->m_UserHandler(node, pTrans->m_pUserCookie);
            ^~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: At global scope:
/usr/include/ni/XnCppWrapper.h:10090:9: error: ‘XnStatus’ does not name a type
  static XnStatus _RegisterToStateChange(_XnRegisterStateChangeFuncPtr xnFunc, XnNodeHandle hNode, StateChangedHandler handler, void* pCookie, XnCallbackHandle& hCallback)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h: In function ‘void xn::_UnregisterFromStateChange(xn::_XnUnregisterStateChangeFuncPtr, XnNodeHandle, XnCallbackHandle)’:
/usr/include/ni/XnCppWrapper.h:10097:3: error: ‘UnregisterFromUnderlying’ is not a member of ‘xn::StateChangedCallbackTranslator’
   StateChangedCallbackTranslator::UnregisterFromUnderlying(xnFunc, hNode, hCallback);
   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ni/XnCppWrapper.h: At global scope:
/usr/include/ni/XnCppWrapper.h:10100:9: error: ‘XnStatus’ does not name a type
  inline XnStatus GeneralIntCapability::RegisterToValueChange(StateChangedHandler handler, void* pCookie, XnCallbackHandle& hCallback)
         ^~~~~~~~
/usr/include/ni/XnCppWrapper.h: In member function ‘void xn::GeneralIntCapability::UnregisterFromValueChange(XnCallbackHandle)’:
/usr/include/ni/XnCppWrapper.h:10122:54: error: ‘m_strCap’ was not declared in this scope
   xnUnregisterFromGeneralIntValueChange(GetHandle(), m_strCap, pTrans->m_hCallback);
                                                      ^~~~~~~~
/usr/include/ni/XnCppWrapper.h:10122:83: error: ‘xnUnregisterFromGeneralIntValueChange’ was not declared in this scope
   xnUnregisterFromGeneralIntValueChange(GetHandle(), m_strCap, pTrans->m_hCallback);
                                                                                   ^
In file included from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:41:0,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: At global scope:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:71:116: error: ‘XnUInt64’ has not been declared
 age (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();
                                                                                                ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:71:139: error: ‘XnUInt64’ has not been declared
 xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ();
                                                                                                ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:127:14: error: ‘XnUInt64’ does not name a type
       inline XnUInt64
              ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:133:14: error: ‘XnUInt64’ does not name a type
       inline XnUInt64
              ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:161:7: error: ‘XnUInt64’ does not name a type
       XnUInt64 shadow_value_;
       ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:162:7: error: ‘XnUInt64’ does not name a type
       XnUInt64 no_sample_value_;
       ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:165:117: error: ‘XnUInt64’ has not been declared
 age (boost::shared_ptr<xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
                                                                                                ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:165:140: error: ‘XnUInt64’ has not been declared
 xn::DepthMetaData> depth_meta_data, float baseline, float focal_length, XnUInt64 shadow_value, XnUInt64 no_sample_value) throw ()
                                                                                                ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: In constructor ‘openni_wrapper::DepthImage::DepthImage(boost::shared_ptr<xn::DepthMetaData>, float, float, int, int)’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:169:5: error: class ‘openni_wrapper::DepthImage’ does not have any field named ‘shadow_value_’
   , shadow_value_ (shadow_value)
     ^~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:170:5: error: class ‘openni_wrapper::DepthImage’ does not have any field named ‘no_sample_value_’
   , no_sample_value_ (no_sample_value) { }
     ^~~~~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: At global scope:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:192:3: error: ‘XnUInt64’ does not name a type
   XnUInt64
   ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:198:3: error: ‘XnUInt64’ does not name a type
   XnUInt64
   ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: In member function ‘unsigned int openni_wrapper::DepthImage::getWidth() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:207:23: error: ‘class xn::DepthMetaData’ has no member named ‘XRes’
     return depth_md_->XRes ();
                       ^~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: In member function ‘unsigned int openni_wrapper::DepthImage::getHeight() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:213:23: error: ‘class xn::DepthMetaData’ has no member named ‘YRes’
     return depth_md_->YRes ();
                       ^~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: In member function ‘unsigned int openni_wrapper::DepthImage::getFrameID() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:219:23: error: ‘class xn::DepthMetaData’ has no member named ‘FrameID’
     return depth_md_->FrameID ();
                       ^~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h: In member function ‘long unsigned int openni_wrapper::DepthImage::getTimeStamp() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_depth_image.h:225:51: error: ‘class xn::DepthMetaData’ has no member named ‘Timestamp’
     return static_cast<unsigned long> (depth_md_->Timestamp ());
                                                   ^~~~~~~~~
In file included from /home/mathieu/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:42:0,
                 from /home/mathieu/rtabmap/corelib/src/CameraThread.cpp:31:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h: In member function ‘void openni_wrapper::Image::fillRaw(unsigned char*) const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:121:38: error: ‘class xn::ImageMetaData’ has no member named ‘Data’
       memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
                                      ^~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:121:58: error: ‘class xn::ImageMetaData’ has no member named ‘DataSize’
       memcpy (rgb_buffer, image_md_->Data (), image_md_->DataSize ());
                                                          ^~~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h: In member function ‘unsigned int openni_wrapper::Image::getWidth() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:181:23: error: ‘class xn::ImageMetaData’ has no member named ‘XRes’
     return image_md_->XRes ();
                       ^~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h: In member function ‘unsigned int openni_wrapper::Image::getHeight() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:187:23: error: ‘class xn::ImageMetaData’ has no member named ‘YRes’
     return image_md_->YRes ();
                       ^~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h: In member function ‘unsigned int openni_wrapper::Image::getFrameID() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:193:23: error: ‘class xn::ImageMetaData’ has no member named ‘FrameID’
     return image_md_->FrameID ();
                       ^~~~~~~
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h: In member function ‘long unsigned int openni_wrapper::Image::getTimeStamp() const’:
/usr/include/pcl-1.8/pcl/io/openni_camera/openni_image.h:199:51: error: ‘class xn::ImageMetaData’ has no member named ‘Timestamp’
     return static_cast<unsigned long> (image_md_->Timestamp ());

Did you have these errors too? Did you build PCL from source (along with Openni)?

@TomasBedrnik
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I have never seen this errors.
I have pcl-1.8.0 and openni-2.2beta2 from source (AUR builds). I disabled most dependencies, tried older gcc-5.4, older boost-1.54, recompiled pcl, disabled openni2... but errors with serialize remains same with some new ones.

@TomasBedrnik
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Openni2 fails to build with gcc6 - needs to be build with clang. But serialize errors remains even without openni2.

@matlabbe
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For an ugly solution, serialize related code can be commented, it is not used.

@TomasBedrnik
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Thanks, that works.
If I figure out how to solve this problem without this ugly hack, I'll let you know.

@TomasBedrnik
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I don't know what the problem was, but it is working now. Versions of gcc and boost are the same.

@TomasBedrnik TomasBedrnik changed the title Compilation fails on Archlinux Compilation fails with opencv-git [edited] Nov 19, 2016
@TomasBedrnik
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TomasBedrnik commented Nov 19, 2016 •
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I found the probem. It is in current git version of opencv. With 3.1.0 it works OK, but probmem is this commit to opencv/opencv@e42750c associated to this issue: opencv/opencv#7027

It basically adds #include "opencv2/flann.hpp" to include/opencv2/opencv.hpp
Opencv has own copy of flann 1.6.10 and this #include probably covers system version of flann (last is 1.8.4).

I don't know if this should be solved in opencv (use newer flann) or rtabmap (some cmake magic?)

@TomasBedrnik TomasBedrnik reopened this Nov 19, 2016
matlabbe added a commit that referenced this issue Nov 23, 2016
@matlabbe
flann serialize unordered_map compilation error (#126): modified defi…
2a43a95 
…ne name to avoid conflicts with the one defined in OpenCV
@matlabbe
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RTAB-Map uses a slightly patched version of the latest flann library (1.8). The problem is similar to flann-lib/flann#214

OpenCV is using #define USE_UNORDERED_MAP 1, and since the define name is the same as the flann included in rtabmap, USE_UNORDERED_MAP was set to 1, making rtabmap compilation failing with unordered_map serialization errors. It seems that even the latest flann code (this version tested) cannot be built with USE_UNORDERED_MAP=1. The commit above fixes the problem.

Well, OpenCV is using USE_UNORDERED_MAP=1 for a long time, I think that the commit you referred is making the lsh_table.h header file included in rtabmap somehow, setting the define to 1.

cheers,
Mathieu

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@matlabbe @TomasBedrnik