SVIn2: catkin_make ERRORS

Q1: flann冲突

/usr/include/flann/algorithms/all_indices.h:129:41: error: ‘flann::create_index_’ declared as an ‘inline’ variable inline NNIndex<Distance>* create_index_(flann::Matrix<T> data, const flann::IndexParams& params, const Distance& distance,
^~~~~
/usr/include/flann/algorithms/all_indices.h:129:41: error: reference to ‘flann’ is ambiguous

因为pcl和opencv都使用，产生了冲突。

A: 解决：在错误处给flann前加::作用域运算符，限制其作用域。

https://www.geek-share.com/detail/2579717721.html

Q2: for (auto it : topic2file) { / error: ‘end’ was not declared in this scope

/home/printeger/catkin_ws/src/SVIn2/okvis_ros/src/dataset_convertor.cpp:493:18: error: ‘end’ was not declared in this scope

for (auto it : topic2file) {
猜测是没有使用c++11新特性，在cmakelists中加

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

https://answers.ros.org/question/216842/ros-using-c-11-how-to-use-with-catkin/

Q3: cere报错，error: ‘integer_sequence’ is not a member of ‘std‘

A3:
对应的工程cmakelists里
set(CMAKE_CXX_FLAGS "-std=c++11")
改为
set(CMAKE_CXX_STANDARD 14)

Q4: error: template argument 1 is invalid

/home/printeger/catkin_ws/src/SVIn2/okvis_ros/src/dataset_convertor.cpp:161:40: error: template argument 1 is invalid
void writeImuHeader(shared_ptr<ofstream> file)
^
/home/printeger/catkin_ws/src/SVIn2/okvis_ros/src/dataset_convertor.cpp:161:40: error: template argument 1 is invalid
/home/printeger/catkin_ws/src/SVIn2/okvis_ros/src/dataset_convertor.cpp:161:40: error: template argument 1 is invalid
/home/printeger/catkin_ws/src/SVIn2/okvis_ros/src/dataset_convertor.cpp:161:21: error: variable or field ‘writeImuHeader’ declared void
void writeImuHeader(shared_ptr<ofstream> file)

A4:
报错位置加std::
void writeImuHeader(shared_ptr<std::ofstream> file)

BINGO

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bingo收回，TX2上跑因为它是armV8架构处理器又有一堆问题。。。。。

Q5：c++: error: unrecognized command line option ‘-mfpu=neon’

A5：
打开CMakeLists.txt,
将13,15行的OFF改成ON
将68行:

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon")

改成

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D__ARM_NEON__")

https://blog.csdn.net/entaroyan/article/details/79954273

Q6： fatal error: emmintrin.h: No such file or directory