Orb_slam2: Build failed Ubuntu 18.04

Created on 30 Jun 2019  ·  5Comments  ·  Source: raulmur/ORB_SLAM2

Build fails on Ubuntu18.04.
I fresh installed ubuntu18.04, then followed instructions to install all dependencies. I didn't build any dependencies from source - I went with a apt-get versions for example "apt-get install libopencvdev" "apt-get install libeigen3-dev"

I would appreciate any feedback, I find the following output quite un-descriptive.

After running ./build.sh I get:

Configuring and building Thirdparty/DBoW2 ...
mkdir: cannot create directory ‘build’: File exists
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/ORB_SLAM2/Thirdparty/DBoW2/build
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
mkdir: cannot create directory ‘build’: File exists
-- BUILD TYPE:Release
-- Compiling on Unix
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:310 (if):
  if given arguments:

    "TRUE"

  An argument named "TRUE" appears in a conditional statement.  Policy
  CMP0012 is not set: if() recognizes numbers and boolean constants.  Run
  "cmake --help-policy CMP0012" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindOpenMP.cmake:425 (_OPENMP_GET_SPEC_DATE)
  CMakeLists.txt:47 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/ORB_SLAM2/Thirdparty/g2o/build
[100%] Built target g2o
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
mkdir: cannot create directory ‘build’: File exists
Build type: Release
-- Using flag -std=c++11.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/a/ORB_SLAM2/build
[  3%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
     typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                                                          ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                                                  ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                                                  ^~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_sba.h:40:35:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
     typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
     typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:80:35:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:112:41:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<7, g2o::Sim3>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:48:35:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
     typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned >  HessianBlockType;
                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:99:27:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSim3Expmap>’:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:130:36:   required from here
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
In file included from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35:0,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
       typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:344:0,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/a/ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/a/ORB_SLAM2/include/LoopClosing.h:34,
                 from /home/a/ORB_SLAM2/include/LocalMapping.h:26,
                 from /home/a/ORB_SLAM2/include/Tracking.h:31,
                 from /home/a/ORB_SLAM2/include/System.h:29,
                 from /home/a/ORB_SLAM2/src/System.cc:23:
/usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
 EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
                                     ^~~~~~~~~~
/home/a/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackStereo(const cv::Mat&, const cv::Mat&, const double&)’:
/home/a/ORB_SLAM2/src/System.cc:134:17: error: ‘usleep’ was not declared in this scope
                 usleep(1000);
                 ^~~~~~
/home/a/ORB_SLAM2/src/System.cc:134:17: note: suggested alternative: ‘fseek’
                 usleep(1000);
                 ^~~~~~
                 fseek
/home/a/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackRGBD(const cv::Mat&, const cv::Mat&, const double&)’:
/home/a/ORB_SLAM2/src/System.cc:185:17: error: ‘usleep’ was not declared in this scope
                 usleep(1000);
                 ^~~~~~
/home/a/ORB_SLAM2/src/System.cc:185:17: note: suggested alternative: ‘fseek’
                 usleep(1000);
                 ^~~~~~
                 fseek
/home/a/ORB_SLAM2/src/System.cc: In member function ‘cv::Mat ORB_SLAM2::System::TrackMonocular(const cv::Mat&, const double&)’:
/home/a/ORB_SLAM2/src/System.cc:236:17: error: ‘usleep’ was not declared in this scope
                 usleep(1000);
                 ^~~~~~
/home/a/ORB_SLAM2/src/System.cc:236:17: note: suggested alternative: ‘fseek’
                 usleep(1000);
                 ^~~~~~
                 fseek
/home/a/ORB_SLAM2/src/System.cc: In member function ‘void ORB_SLAM2::System::Shutdown()’:
/home/a/ORB_SLAM2/src/System.cc:309:13: error: ‘usleep’ was not declared in this scope
             usleep(5000);
             ^~~~~~
/home/a/ORB_SLAM2/src/System.cc:309:13: note: suggested alternative: ‘fseek’
             usleep(5000);
             ^~~~~~
             fseek
/home/a/ORB_SLAM2/src/System.cc:315:9: error: ‘usleep’ was not declared in this scope
         usleep(5000);
         ^~~~~~
/home/a/ORB_SLAM2/src/System.cc:315:9: note: suggested alternative: ‘fseek’
         usleep(5000);
         ^~~~~~
         fseek
CMakeFiles/ORB_SLAM2.dir/build.make:62: recipe for target 'CMakeFiles/ORB_SLAM2.dir/src/System.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
CMakeFiles/Makefile2:252: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
picture angussmitchell

Most helpful comment

Insert the following:

include

in system.h

picture giwrgosg on 2 Jul 2019
👍7 ❤4

All 5 comments

Insert the following:

include

in system.h

giwrgosg picture giwrgosg on 2 Jul 2019
👍7 ❤4

Thanks @giwrgosg , the solution worked for me on Ubuntu18.04

angussmitchell picture angussmitchell on 12 Jul 2019

Thanks for this solution, but by the way, i wander why this error occurs on Ubuntu18.04 while i didn't meet this error compiling on ubuntu16.04～～

whu-lyh picture whu-lyh on 27 Jul 2019

Thanks a lot
solution ( add #include in system.h ) works well on Ubuntu 18.04

Dennis2Choi picture Dennis2Choi on 22 Dec 2019

Thanks @giwrgosg ！！！！！！

Songtingt picture Songtingt on 19 Jun 2020
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