Compiling on OSX Mavericks 10.9.3 with clang and No-ROS (Success!)

[b4silio]

I finally managed to compile rpg_svo successfully after several hours of headbanging (due in no small part to my ineptitude with CMake)

I followed the instruction on https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-Plain-CMake-(No-ROS). What follow are the issues I encountered along the way, and how I solved them.

Eigen 3

• Could not use apt-get but used homebrew (brew install eigen). However, simply downloading Eigen and putting it somewhere the system will find it also works (need to change CMakeLists.txt accordingly though)

Sophus - Lie groups

• Changed Code in sophus/so2.cpp (clang was complaining that error: expression is not assignable)
  unit_complex = Complexd(1.,0.);_
  instead of
  unit_complex.real() = 1.;_
  unit_complex.imag() = 0.;_
  solves the issue.

Fast - Corner Detector

• Taken out -Wno-unused-but-set-variable (not liked by clang) from CMakeLists.txt
• Seems to not find the correct symbols in the OpenCV libraries at linking time (osx llvm / c+x11 problem?). I recompiled OpenCV (2.4.9) and both Fast and vikit_common now compile fine. (I probably had GCC libraries)

Compiling G2O (optional)

• skipped

vikit_common

• Same problem with OpenCV (unrecognised symbols at linking time)
• The project does not generate a cmake config file for find_package (which is a problem for rpg_svo)

rpg_svo

• find_package() cannot find vikit_common because of missing config file. manually added the path to the library
  set(vikit_common_LIBRARIES "/Users/basilio/Code/RPG_SVO/rpg_vikit/vikit_common/lib/libvikit_common.dylib")
  as well as copying the vikit include folder in svo (the lazy alternative to actually doing it properly in CMake)
• Warnings are messing up compilation on clang, took out -Werror and -Wno-unused-but-set-variable and -funsafe-remove-loops from CMakeLists.txt
• Cannot find boost::system::system_category(). Added the boost_system library in CMakeLists.txt: set(boost_LIBRARIES "/opt/local/lib/libboost_system-mt.dylib")
• ERROR: test_utils.h:l22
  #include < ros/package.h >
  needs to be commented away if you’re not using ROS
• ERROR: test_depth_filter.cpp:l124+l132
  boost::make_shared< svo::Frame > (cam, img, 0.0);_
  adding
  #include < boost/make_shared.hpp >
  #include < boost/shared_ptr.hpp >
  Solved the issue

Running the tests
The tests work fine, as does test_pipeline on a custom dataset!

p.s. sorry for the bad formatting, not a guru with Markdown!
p.p.s posting this as an Issue because I didn't know where else to put it!

[cfo]

Hi,
thanks for your feedback!
I fixed the last two ERRORS and added a cmake config file for rpg_vikit. On my computer it is found anyway so I couldn't really test it but it should work..
I am not sure what we can do about the other things. Maybe I will just add a link to this page in the Wiki.
Best,
Christian

[vinben]

That's another issue related to Mac Mavericks (Xcode 5.1). When I compile svo, the compiler gives such message:

[  4%] Building CXX object CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o
clang: error: unknown argument: '-funsafe-loop-optimizations' [-Wunused-command-line-argument-hard-error-in-future]
clang: note: this will be a hard error (cannot be downgraded to a warning) in the future
make[2]: *** [CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o] Error 1

It seems that the compiler with the new xcode is quite restrictive when it comes to warnings. I guess that may need additional ARCHFLAGS but I don't know which one is proper.

[jmtatsch]

isnanf() is not defined on OSX, could this:
if(isnanf(norm_scale))
just be changed to:
if(isnan(norm_scale))
without major performance hits?

[cfo]

i changed it to std::isnan(). (http://en.cppreference.com/w/cpp/numeric/math/isnan)

[jmtatsch]

Thanks!

[kubark42]

Very similar experience to @b4silio. Kudos to him for finding the workarounds!

This is on OSX 10.9.5, using XCode 6.0.1.

Follow all directions in https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-Plain-CMake-(No-ROS), with the following modifications:

Eigen

brew install eigen is the only command necessary. (Don't have brew? Install it here.)

Sophus

In sophus/so2.cpp replace:

unit_complex_.real() = 1.; 
unit_complex_.imag() = 0.;

with:

unit_complex_ = Complexd(1.,0.);

(Could the SVO maintainers upgrade to using latest Sophus? It compiles correctly on OSX.)

Fast

(No OpenCV problems similar to those reported by @b4silio.)

In CMakeLists.txt, remove -Wno-unused-but-set-variable

(Could the SVO maintainers make this flag compiler dependent? Clang fails due to its presence.)

G2O (optional)

skipped

Vikit

(No OpenCV problems similar to those reported by @b4silio.)
(No find_package() problems similar to those reported by @b4silio.)

RPG-SVO

In CMakeLists.txt, remove -Wno-unused-but-set-variable

(Could the SVO maintainers make this flag compiler dependent? Clang fails due to its presence.)

Running the tests

The tests work fine, as does test_pipeline on a custom dataset!

[unisethenry]

Thanks for your experience sharing (especially the complex number part in Sophus)! I can compile the source smoothly on OS X 10.10.2 with Xcode 6.1.1!

[pranny]

On an OS X 10.10.3 with Xcode 6.3.1, I have Sophus installed, and the files are present at /usr/local/include/sophus. All the tests for Sophus pass. The tail of make install for Sophus goes like

Install the project...
/usr/local/Cellar/cmake/3.2.1/bin/cmake -P cmake_install.cmake
-- Install configuration: "Release"
-- Up-to-date: /usr/local/include/sophus
-- Up-to-date: /usr/local/include/sophus/rxso3.hpp
-- Up-to-date: /usr/local/include/sophus/se2.hpp
-- Up-to-date: /usr/local/include/sophus/se3.hpp
-- Up-to-date: /usr/local/include/sophus/sim3.hpp
-- Up-to-date: /usr/local/include/sophus/so2.hpp
-- Up-to-date: /usr/local/include/sophus/so3.hpp
-- Up-to-date: /usr/local/include/sophus/sophus.hpp
-- Up-to-date: /usr/local/include/sophus/tests.hpp

Now when I try to build rpg_svo/svo the output of cmake .. from build dir

MACOSX_RPATH is not specified for the following targets:

   svo

Here is the output of make

[  4%] Building CXX object CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o
warning: unknown warning option '-Wno-unused-but-set-variable'; did you mean '-Wno-unused-const-variable'? [-Wunknown-warning-option]
warning: unknown warning option '-Wno-unused-but-set-variable'; did you mean '-Wno-unused-const-variable'? [-Wunknown-warning-option]
In file included from /Users/pranav/workspace/rpg_svo/svo/src/frame_handler_mono.cpp:18:
In file included from /Users/pranav/workspace/rpg_svo/svo/include/svo/frame_handler_mono.h:22:
In file included from /Users/pranav/workspace/rpg_svo/svo/include/svo/frame_handler_base.h:26:
/Users/pranav/workspace/rpg_svo/svo/include/svo/global.h:29:10: fatal error: 'sophus/se3.h' file not found
#include <sophus/se3.h>
         ^
2 warnings and 1 error generated.
make[2]: *** [CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o] Error 1
make[1]: *** [CMakeFiles/svo.dir/all] Error 2
make: *** [all] Error 2

I can't seem to find out the solution for this. What could be causing it?

[Dabrant]

@pranny I'm pretty sure you just forgot to checkout the a621ff commit of Sophus as mentioned in the wiki page for the install instructions https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-Plain-CMake-(No-ROS). This will give you the .h files instead of the .hpp files in the current master branch. That seems to be what's giving you the file not found fatal error.

[weiminshen99]

Hi, Everyone,

Thanks for the helpful posts for running SVO on Mac without ROS. I have successfully compiled the code and all tests seem work except ./test_depth_filter. It causes errors in two places listed below. Please help me and let me know how to fix the problem. Thanks!

======= Problem 1 ============
When I run ./test_pipeline, it processed frames 2 thru 185, and then prints the following error:
[INFO] DepthFilter stop thread invoked.
[INFO] DepthFilter interrupt and join thread...
[INFO] DepthFilter destructed.
test_pipeline(81278,0x7fffa1afb380) malloc: *** error for object 0x4d0023004d000b: pointer being freed was not allocated
*** set a breakpoint in malloc_error_break to debug
Abort trap: 6

======== Problem 2 =========
When I run ./test_depth_filter, it runs into the following error:
RUN EXPERIMENT: read 187 dataset entries.
reading image: '/Users/weiminshen99/GitHub/SVO/Datasets/sin2_tex2_h1_v8_d/img/frame_000002_0.png'
Assertion failed: ((internal::UIntPtr(array) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"), function plain_array, file /usr/local/Cellar/eigen/3.3.4/include/eigen3/Eigen/src/Core/DenseStorage.h, line 128.
Abort trap: 6

[Junxen]

@weiminshen99, have you solved Problem 1 yet? I have the exactly the same error.