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Published 20 hours ago • verified publisher icon UZ-SLAMLab

make: *** [Makefile:84: all] Error 2

Open nargenziano opened this issue 2 years ago • 15 comments

I'm trying to install ORB-SLAM3 on Ubuntu 20.04 LTS (WSL on Windows 10) and I get the following errors when executing ./build.sh. I have already tried many solutions proposed in previous issues (including downgrading Eigen to 3.2.10 and adding #include <unistd.h> in System.h) but I am stuck at the same point.

Does anybody have any hint?

Below is the error log:

/mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope 1180 | cow_copy_type<list_type, Lockable> ref = slots_reference(); | ~~~~~~~~~~~~~~~^~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::MergeLocal2()’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc:1810:20: warning: use of an operand of type ‘bool’ in ‘operator++’ is deprecated [-Wdeprecated] 1810 | mnFullBAIdx++; | ^~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc:1788:9: warning: unused variable ‘numTemporalKFs’ [-Wunused-variable] 1788 | int numTemporalKFs = 11; //TODO (set by parameter): Temporal KFs in the local window if the map is inertial. | ^~~~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::SearchAndFuse(const KeyFrameAndPose&, std::vector<ORB_SLAM 3::MapPoint*>&)’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc:2134:13: warning: unused variable ‘numFused’ [-Wunused-variable] 2134 | int numFused = matcher.Fuse(pKFi,Scw,vpMapPoints,4,vpReplacePoints); | ^~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc: In member function ‘void ORB_SLAM3::LoopClosing::SearchAndFuse(const std::vector<ORB_SLAM3::KeyFrame*>&, st d::vector<ORB_SLAM3::MapPoint*>&)’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc:2162:9: warning: unused variable ‘total_replaces’ [-Wunused-variable] 2162 | int total_replaces = 0; | ^~~~~~~~~~~~~~ In file included from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:20: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h: In constructor ‘ORB_SLAM3::Tracking::Tracking(ORB_SLAM3::System*, ORB_SLAM3::ORBVocabulary*, ORB_SLAM3::Fra meDrawer*, ORB_SLAM3::MapDrawer*, ORB_SLAM3::Atlas*, ORB_SLAM3::KeyFrameDatabase*, const string&, int, ORB_SLAM3::Settings*, const string&)’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:286:10: warning: ‘ORB_SLAM3::Tracking::bStepByStep’ will be initialized after [-Wreorder] 286 | bool bStepByStep; | ^~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:284:18: warning: ‘ORB_SLAM3::FrameDrawer* ORB_SLAM3::Tracking::mpFrameDrawer’ [-Wreorder] 284 | FrameDrawer* mpFrameDrawer; | ^~~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:46:1: warning: when initialized here [-Wreorder] 46 | Tracking::Tracking(System pSys, ORBVocabulary pVoc, FrameDrawer pFrameDrawer, MapDrawer pMapDrawer, Atlas pAtlas, KeyFrameDatabase pKFDB, const stri ng &strSettingPath, const int sensor, Settings settings, const string &_nameSeq): | ^~~~~~~~ In file included from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:20: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:331:10: warning: ‘ORB_SLAM3::Tracking::mbCreatedMap’ will be initialized after [-Wreorder] 331 | bool mbCreatedMap; | ^~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:327:18: warning: ‘unsigned int ORB_SLAM3::Tracking::mnFirstFrameId’ [-Wreorder] 327 | unsigned int mnFirstFrameId; | ^~~~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:46:1: warning: when initialized here [-Wreorder] 46 | Tracking::Tracking(System pSys, ORBVocabulary pVoc, FrameDrawer pFrameDrawer, MapDrawer pMapDrawer, Atlas pAtlas, KeyFrameDatabase pKFDB, const stri ng &strSettingPath, const int sensor, Settings settings, const string &_nameSeq): | ^~~~~~~~ In file included from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:20: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:354:33: warning: ‘ORB_SLAM3::Tracking::mpCamera2’ will be initialized after [-Wreorder] 354 | GeometricCamera mpCamera, mpCamera2; | ^~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Tracking.h:321:15: warning: ‘ORB_SLAM3::KeyFrame ORB_SLAM3::Tracking::mpLastKeyFrame’ [-Wreorder] 321 | KeyFrame mpLastKeyFrame; | ^~~~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:46:1: warning: when initialized here [-Wreorder] 46 | Tracking::Tracking(System pSys, ORBVocabulary pVoc, FrameDrawer pFrameDrawer, MapDrawer pMapDrawer, Atlas pAtlas, KeyFrameDatabase pKFDB, const stri ng &strSettingPath, const int sensor, Settings settings, const string &_nameSeq): | ^~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc: In member function ‘void ORB_SLAM3::Tracking::Track()’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:2169:96: warning: comparison of integer expressions of different signedness: ‘long unsigned int’ and ‘int’ [-Ws ign-compare] 2169 | if((mCurrentFrame.mnId<(mnLastRelocFrameId+mnFramesToResetIMU)) && (mCurrentFrame.mnId > mnFramesToResetIMU) && | ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc: In member function ‘void ORB_SLAM3::Tracking::SearchLocalPoints()’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:3415:13: warning: unused variable ‘matches’ [-Wunused-variable] 3415 | int matches = matcher.SearchByProjection(mCurrentFrame, mvpLocalMapPoints, th, mpLocalMapper->mbFarPoints, mpLocalMapper->mThFarPoints); | ^~~~~~~ /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc: In member function ‘void ORB_SLAM3::Tracking::UpdateFrameIMU(float, const ORB_SLAM3::IMU::Bias&, ORB_SLAM3::Ke yFrame)’: /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/Tracking.cc:3985:18: warning: unused variable ‘index’ [-Wunused-variable] 3985 | unsigned int index = mnFirstFrameId; | ^~~~~ In file included from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/pangolin/utils/signal_slot.h:3, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_windowing/include/pangolin/windowing/window.h:35, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_display/include/pangolin/display/display.h:34, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/pangolin/pangolin.h:38, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Map.h:27, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/MapPoint.h:25, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/KeyFrame.h:23, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/LoopClosing.h:25, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/src/LoopClosing.cc:21: /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/sigslot/signal.hpp: In instantiation of ‘void sigslot::signal_base< , >::operator()(U&& ...) [with U = {pangolin::VarState::Event}; Lockable = std::mutex; T = {pangolin::VarState::Event}]’: /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/varstate.h:264:23: required from ‘std::map<std::__cxx11::basic_string, std::s hared_ptrpangolin::VarValueGeneric >::iterator pangolin::VarState::AddUpgradedVar(const std::shared_ptr<pangolin::VarValue<T> >&, const iterator&, bool) [with T = bool; std::map<std::__cxx11::basic_string, std::shared_ptrpangolin::VarValueGeneric >::iterator = std::_Rb_tree_iterator<std::pair<const std::__cxx11:: basic_string, std::shared_ptrpangolin::VarValueGeneric > >]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/varstate.h:205:13: required from ‘std::shared_ptrpangolin::VarValueGeneric pangol in::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/var.h:83:50: required from ‘pangolin::Var<T>::Var(const T&, const pangolin::VarMeta &) [with T = bool]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/var.h:88:35: required from ‘pangolin::Var<T>::Var(const string&, const T&) [with T = bool; std::string = std::__cxx11::basic_string]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_display/include/pangolin/display/widgets.h:153:50: required from here /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope 1180 | cow_copy_type<list_type, Lockable> ref = slots_reference(); | ~~~~~~~~~~~~~~~^~ In file included from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/pangolin/utils/signal_slot.h:3, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_windowing/include/pangolin/windowing/window.h:35, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_display/include/pangolin/display/display.h:34, from /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/pangolin/pangolin.h:38, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/Map.h:27, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/KeyFrameDatabase.h:30, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/KeyFrame.h:29, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/MapPoint.h:23, from /mnt/d/Documenti/ETH/3DV/ORB_SLAM3/include/FrameDrawer.h:24, in::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/var.h:83:50: required from ‘pangolin::Var<T>::Var(const T&, const pangolin::VarMeta &) [with T = bool]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_vars/include/pangolin/var/var.h:88:35: required from ‘pangolin::Var<T>::Var(const string&, const T&) [with T = bool; std::string = std::__cxx11::basic_string]’ /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_display/include/pangolin/display/widgets.h:153:50: required from here /mnt/d/Documenti/ETH/3DV/Pangolin/components/pango_core/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope 1180 | cow_copy_type<list_type, Lockable> ref = slots_reference(); | ~~~~~~~~~~~~~~~^~ make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:89: CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o] Error 1 make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102: CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] Error 1 make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:76: CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:711: CMakeFiles/ORB_SLAM3.dir/all] Error 2 make: *** [Makefile:84: all] Error 2

nargenziano avatar Apr 15 '22 14:04 nargenziano

try to compile with c++14 Modify CMakeLists.txt set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")-->set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")

woowloop avatar Apr 18 '22 01:04 woowloop

try to compile with c++14 Modify CMakeLists.txt set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")-->set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")

Thanks for your answer. I still get the same error though.

nargenziano avatar Apr 18 '22 08:04 nargenziano

https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/549#issuecomment-1101011250 Actually i think by changing C++11 to C++14 a C++14 may required for building codes and i searched to find how to install C++14 on ubuntu and i didn't find something useful. can you help me with that ? @woowloop

ParsaKhaledi avatar Apr 19 '22 05:04 ParsaKhaledi

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

simutisernestas avatar Apr 20 '22 10:04 simutisernestas

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

Just to make sure, you mean ORB_SLAM3/CMakeLists.txt, right? Because I keep getting the same error.

nargenziano avatar Apr 20 '22 10:04 nargenziano

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

Just to make sure, you mean ORB_SLAM3/CMakeLists.txt, right? Because I keep getting the same error.

Yes. Try deleting build folder and start over. It worked from the first try for me.

simutisernestas avatar Apr 20 '22 10:04 simutisernestas

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

Just to make sure, you mean ORB_SLAM3/CMakeLists.txt, right? Because I keep getting the same error.

Yes. Try deleting build folder and start over. It worked from the first try for me.

I deleted ORB_SLAM3/build and repeated the following chmod +x build.sh ./build.sh But the same happens again. Do you have any further advice?

nargenziano avatar Apr 20 '22 11:04 nargenziano

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

Just to make sure, you mean ORB_SLAM3/CMakeLists.txt, right? Because I keep getting the same error.

Yes. Try deleting build folder and start over. It worked from the first try for me.

I deleted ORB_SLAM3/build and repeated the following chmod +x build.sh ./build.sh But the same happens again. Do you have any further advice?

Seems like a problem with Pangolia. Did you run make install & ldconfig after building it?

simutisernestas avatar Apr 20 '22 11:04 simutisernestas

Add set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14") in CMakeLists.txt after this block:

if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

Just to make sure, you mean ORB_SLAM3/CMakeLists.txt, right? Because I keep getting the same error.

Yes. Try deleting build folder and start over. It worked from the first try for me.

I deleted ORB_SLAM3/build and repeated the following chmod +x build.sh ./build.sh But the same happens again. Do you have any further advice?

Seems like a problem with Pangolia. Did you run make install & ldconfig after building it?

I tried to build everything over again running make install & ldconfig to make sure, but the same happens again.

nargenziano avatar Apr 21 '22 06:04 nargenziano

#549 (comment) Actually i think by changing C++11 to C++14 a C++14 may required for building codes and i searched to find how to install C++14 on ubuntu and i didn't find something useful. can you help me with that ? @woowloop

No installation c++14 required in ubuntu (The new system already exists c++14)

woowloop avatar Apr 21 '22 07:04 woowloop

I was encountering similar issues. Not touching any CMakeLists but changing the last part of build.sh to

echo "Configuring and building ORB_SLAM3 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=14
make -j4

works for me.

jonah-chen avatar May 20 '22 03:05 jonah-chen

Hi author, have you solved this problem?II also had the same problem！

Glean-jcy avatar Jul 17 '22 13:07 Glean-jcy

Hi author, have you solved this problem?II also had the same problem！ The problem was solved after I installed the latest version of pangolin.

Glean-jcy avatar Jul 18 '22 06:07 Glean-jcy

I was encountering similar issues. Not touching any CMakeLists but changing the last part of build.sh to

echo "Configuring and building ORB_SLAM3 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=14
make -j4

works for me.

Thanks for your method! I successfully solved the problem~

projectqduE avatar Aug 13 '22 08:08 projectqduE

try to compile with c++14 Modify CMakeLists.txt set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")-->set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")

Thanks. It worked for me :)

vipulgarg1998 avatar Aug 23 '22 03:08 vipulgarg1998