构建 MRPT 库时 cmake 配置失败
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【中文标题】构建 MRPT 库时 cmake 配置失败【英文标题】：cmake configuration failed while building MRPT library 【发布时间】：2020-02-22 10:38:30 【问题描述】：我正在尝试安装 MRPT，尤其是在 PL-SLAM 文档中推荐的提交 0c3d605c3c；但是，我在构建 repo 时总是遇到 cmake 错误。有没有办法解决这个问题？您的帮助将不胜感激。
系统信息：
Linux rock 5.3.0-40-generic #32~18.04.1-Ubuntu SMP Mon Feb 3 14:05:59 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux
Cmake 输出：
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Deprecation Warning at CMakeLists.txt:33 (cmake_policy):
The OLD behavior for policy CMP0026 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- Architecture (uname -m): x86_64
-- Kernel name (uname -s): Linux
CMake Error at cmakemodules/script_detect_gcc.cmake:16 (LIST):
LIST GET given empty list
Call Stack (most recent call first):
CMakeLists.txt:83 (include)
CMake Error at cmakemodules/script_detect_gcc.cmake:17 (LIST):
LIST GET given empty list
Call Stack (most recent call first):
CMakeLists.txt:83 (include)
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Looking for timegm
-- Looking for timegm - found
-- Looking for _mkgmtime
-- Looking for _mkgmtime - not found
-- Looking for alloca
-- Looking for alloca - not found
-- Looking for gettid
-- Looking for gettid - not found
-- Looking for sincos
-- Looking for sincos - found
-- Looking for lrint
-- Looking for lrint - found
-- Looking for erf
-- Looking for erf - found
-- Looking for posix_memalign
-- Looking for posix_memalign - found
-- Looking for _aligned_malloc
-- Looking for _aligned_malloc - not found
-- Looking for strtok_r
-- Looking for strtok_r - found
-- Looking for alloca.h
-- Looking for alloca.h - found
-- Looking for linux/serial.h
-- Looking for linux/serial.h - found
-- Looking for linux/input.h
-- Looking for linux/input.h - found
-- Looking for malloc.h
-- Looking for malloc.h - found
-- Looking for malloc/malloc.h
-- Looking for malloc/malloc.h - not found
-- Looking for stdint.h
-- Looking for stdint.h - found
-- Looking for inttypes.h
-- Looking for inttypes.h - found
-- Looking for winsock2.h
-- Looking for winsock2.h - not found
-- Looking for windows.h>
#include <winusb.h
-- Looking for windows.h>
#include <winusb.h - not found
-- Looking for sys/types.h
-- Looking for sys/types.h - found
-- Looking for stddef.h
-- Looking for stddef.h - found
-- Check size of long double
-- Check size of long double - done
-- Check if the system is big endian
-- Searching 16 bit integer
-- Check size of unsigned short
-- Check size of unsigned short - done
-- Using unsigned short
-- Check if the system is big endian - little endian
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so
-- Found GLUT: /usr/lib/x86_64-linux-gnu/libglut.so
-- Found wxWidgets: -L/usr/lib/x86_64-linux-gnu;-pthread;;;-lwx_baseu-3.0;-lwx_gtk2u_core-3.0;-lwx_gtk2u_gl-3.0;-lwx_gtk2u_adv-3.0;-lwx_gtk2u_aui-3.0;-lwx_gtk2u_html-3.0 (found version "3.0.4")
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11")
-- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so
-- Performing Test PCAP_LINKS_SOLO
-- Performing Test PCAP_LINKS_SOLO - Success
-- Looking for pcap_get_pfring_id
-- Looking for pcap_get_pfring_id - not found
fatal: not a git repository (or any parent up to mount point /mnt)
Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set).
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE)
--
-- List of MRPT libs/modules to be built (and dependencies):
-- -----------------------------------------------------------------
-- mrpt-base :
-- mrpt-bayes : mrpt-base (header-only)
-- mrpt-detectors : mrpt-vision;mrpt-maps;mrpt-gui;mrpt-slam;mrpt-base;mrpt-opengl;mrpt-obs
-- mrpt-graphs : mrpt-base (header-only)
-- mrpt-graphslam : mrpt-graphs;mrpt-base (header-only)
-- mrpt-gui : mrpt-opengl;mrpt-base
-- mrpt-hmtslam : mrpt-slam;mrpt-graphslam;mrpt-graphs;mrpt-vision;mrpt-maps;mrpt-base;mrpt-obs;mrpt-opengl
-- mrpt-hwdrivers : mrpt-base;mrpt-maps;mrpt-obs;mrpt-gui;mrpt-opengl;mrpt-maps;mrpt-vision
-- mrpt-kinematics : mrpt-opengl;mrpt-base
-- mrpt-maps : mrpt-obs;mrpt-opengl;mrpt-base
-- mrpt-nav : mrpt-graphs;mrpt-maps;mrpt-kinematics;mrpt-obs;mrpt-opengl;mrpt-base
-- mrpt-reactivenav : mrpt-nav;mrpt-graphs;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-base (meta-lib)
-- mrpt-obs : mrpt-opengl;mrpt-base
-- mrpt-opengl : mrpt-base
-- mrpt-slam : mrpt-bayes;mrpt-graphs;mrpt-vision;mrpt-tfest;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-base
-- mrpt-tfest : mrpt-base
-- mrpt-scanmatching : mrpt-tfest;mrpt-base (meta-lib)
-- mrpt-topography : mrpt-base;mrpt-obs;mrpt-opengl;mrpt-tfest
-- mrpt-vision : mrpt-obs;mrpt-opengl;mrpt-base;mrpt-opengl
--
-- +===========================================================================+
-- | Resulting configuration for MRPT 1.5.0 |
-- +===========================================================================+
-- _________________________ PLATFORM _____________________________
-- Host : Linux5.3.0-40-genericx86_64
-- Is the system big endian? : No
-- Word size (32/64 bit) : 64
-- CMake version : 3.10.2
-- CMake generator : Unix Makefiles
-- CMake build tool : /usr/bin/make
date: invalid date ‘@’
-- MRPT SOURCE_DATE_EPOCH : ()
-- Compiler : GNU
-- Configuration : Release
-- C++ flags (Release): -isystem /usr/include/wx-3.0 -I /usr/include/wx-3.0 -isystem /usr/lib/x86_64-linux-gnu/wx/include/gtk2-unicode-3.0 -I /usr/lib/x86_64-linux-gnu/wx/include/gtk2-unicode-3.0 -isystem /usr/local/include/eigen3 -pthread -Wreturn-type -Wextra -Wno-unused-parameter -Wall -Wno-long-long -Wno-variadic-macros -Wno-write-strings -std=c++11 -pthread -O3 -mtune=native -msse2 -funroll-loops -mfpmath=sse -msse3 -mssse3 -msse4.1 -msse4.2 -O3 -DNDEBUG
--
-- __________________________ OPTIONS _____________________________
-- Build MRPT as a shared library? : Yes
-- Use SIMD optimizations? : SSE2=1 SSE3=1 SSE4.1=1 SSE4.2=1 SSE4a=0 [Automatic]
-- Install prefix : /usr/local
-- C++ config header : /mnt/data/mrpt/build/include/mrpt-config/unix/
--
-- ______________________ OPTIONAL LIBRARIES ______________________
-- Assimp (3D models) : Yes (System) [Version: 4.1.0]
-- eigen3 : Yes (System) [Version: 3.1.0]
-- ffmpeg libs (Video streaming) : Yes (System) [avcodec 57.107.100, avutil 55.78.100, avformat 57.83.100]
-- gtest (Google unit testing library) : Yes (Built-in)
-- Intel threading lib (TBB) : No
-- lib3ds (3DStudio scenes) : Yes (Built-in)
-- libclang (for ConvertUTF) : Yes (Built-in)
-- libjpeg (jpeg) : Yes (System)
-- liblas (ASPRS LAS LiDAR format) : No
-- mexplus : No
-- OpenCV (Image manipulation) : Yes (System) [Version: 4.2.0]
-- OpenGL : Yes (System)
-- GLUT : Yes (System)
-- PCAP (Wireshark logs for Velodyne) : Yes (System)
-- PCL (Pointscloud library) : No [Version: ]
-- SuiteSparse : Yes
-- wxWidgets : Yes (System)
-- zlib (compression) : Yes (System)
-- yamlcpp (YAML file format) : Yes (System) [Version: 0.5.2]
--
-- _______________________ WRAPPERS/BINDINGS ______________________
-- Matlab / mex files : No [Version: ]
-- Python bindings (pymrpt) : Yes
-- - dep: Boost found? : Yes
-- - dep: PythonLibs found? : Yes
--
-- _____________________ HARDWARE & SENSORS _______________________
-- libdc1394-2 (FireWire capture) : Yes (System)
-- DUO3D Camera libs : No
-- libftdi (USB) : Yes (System) [Version: ]
-- National Instruments...
-- ...NIDAQmx? : No
-- ...NIDAQmx Base? : No
-- NITE2 library : No
-- OpenKinect libfreenect : Yes (System)
-- OpenNI2 : No
-- PGR FlyCapture2 : No
-- PGR Triclops : No
-- Phidgets : No
-- RoboPeak LIDAR : Yes
-- SwissRanger 3/4000 3D camera : No
-- Videre SVS stereo camera : No
-- libudev (requisite for XSensMT4) : Yes (System)
-- xSENS MT 3rd generation : Yes (Built-in)
-- xSENS MT 4th generation : Yes (Built-in)
-- Intersense sensors : No
--
-- Configuring incomplete, errors occurred!
See also "/mnt/data/mrpt/build/CMakeFiles/CMakeOutput.log".
See also "/mnt/data/mrpt/build/CMakeFiles/CMakeError.log".
【问题讨论】：
看起来他们在past 中有这样的问题。尝试使用较新的版本。 嗨@Tsyvarev，PL-SLAM 算法在他们的文档中写的那个提交上进行了测试；因此，该版本不太可能存在问题。 " 该版本不太可能存在问题。" - 您提到的提交日期为 2016 年。它根本无法针对仅在 2017 年发布的 gcc 版本 7 进行测试。（特别是在 2018 年底发布的 gcc 7.4）。 【参考方案1】：有一个待处理的拉取请求here 解决了所有这些问题，但作者还没有合并它......显然他离开了这个行业并且太忙了:-)
签出该 PR 的代码并试一试。
依赖 stvo-pl 和 this pr 的情况完全相同。
【讨论】：
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