undefined reference to `boost::system::system_category()' and multiple other errors!

[kurosh-z]

Hi,
make -j8 results in multiple errors:

kurosh@ubuntu:~/repos/dso/build$ make -j8 Scanning dependencies of target dso [ 4%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp.o [ 8%] Linking CXX static library lib/libdso.a [ 92%] Built target dso Scanning dependencies of target dso_dataset [ 96%] Building CXX object CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o [100%] Linking CXX executable bin/dso_dataset /usr/bin/ld: warning: libOpenNI.so.0, needed by /usr/local/lib/libpangolin.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libOpenNI2.so.0, needed by /usr/local/lib/libpangolin.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o: in function_GLOBAL__sub_I__Z8vignetteB5cxx11':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o: in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o: in function boost::thread_exception::thread_exception(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o:/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references to boost::system::system_category()' follow
/usr/bin/ld: lib/libdso.a(FullSystem.cpp.o): in function _GLOBAL__sub_I__ZN3dso12FrameHessian15instanceCounterE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(FullSystem.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(FullSystemOptimize.cpp.o): in function boost::condition_error::condition_error(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:84: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(FullSystemOptimize.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(FullSystemOptimize.cpp.o):/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references to boost::system::system_category()' follow
/usr/bin/ld: lib/libdso.a(FullSystemOptimize.cpp.o): in function _GLOBAL__sub_I__ZN3dso10FullSystem21linearizeAll_ReductorEbPSt6vectorIPNS_18PointFrameResidualESaIS3_EEiiPN5Eigen6MatrixIdLi10ELi1ELi0ELi10ELi1EEEi': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(FullSystemOptimize.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(FullSystemOptPoint.cpp.o): in function _GLOBAL__sub_I__ZN3dso10FullSystem21optimizeImmaturePointEPNS_13ImmaturePointEiPNS_30ImmaturePointTemporaryResidualE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(FullSystemOptPoint.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(FullSystemDebugStuff.cpp.o): in function _GLOBAL__sub_I__ZN3dso10FullSystem17debugPlotTrackingEv': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(FullSystemDebugStuff.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(FullSystemMarginalize.cpp.o): in function _GLOBAL__sub_I__ZN3dso10FullSystem28flagFramesForMarginalizationEPNS_12FrameHessianE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(FullSystemMarginalize.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(Residuals.cpp.o): in function _GLOBAL__sub_I__ZN3dso18PointFrameResidual15instanceCounterE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(Residuals.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(CoarseTracker.cpp.o): in function _GLOBAL__sub_I__ZN3dso13CoarseTrackerC2Eii':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(CoarseTracker.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(CoarseInitializer.cpp.o): in function _GLOBAL__sub_I__ZN3dso17CoarseInitializerC2Eii': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(CoarseInitializer.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(ImmaturePoint.cpp.o): in function _GLOBAL__sub_I__ZN3dso13ImmaturePointC2EiiPNS_12FrameHessianEfPNS_12CalibHessianE':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(ImmaturePoint.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(EnergyFunctional.cpp.o): in function _GLOBAL__sub_I__ZN3dso15EFAdjointsValidE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(EnergyFunctional.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(AccumulatedTopHessian.cpp.o): in function _GLOBAL__sub_I__ZN3dso24AccumulatedTopHessianSSE12stitchDoubleERN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERNS2_IdLin1ELi1ELi0ELin1ELi1EEEPKNS_16EnergyFunctionalEbbi':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(AccumulatedTopHessian.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(AccumulatedSCHessian.cpp.o): in function _GLOBAL__sub_I__ZN3dso23AccumulatedSCHessianSSE8addPointEPNS_7EFPointEbi': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(AccumulatedSCHessian.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(EnergyFunctionalStructs.cpp.o): in function _GLOBAL__sub_I__ZN3dso10EFResidual9takeDataFEv':
/usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdso.a(EnergyFunctionalStructs.cpp.o): in function __static_initialization_and_destruction_0':
/usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(ImageDisplay_OpenCV.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: lib/libdso.a(ImageDisplay_OpenCV.cpp.o): in function _GLOBAL__sub_I__ZN3dso6IOWrap11openWindowsB5cxx11E': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(ImageDisplay_OpenCV.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(ImageDisplay_OpenCV.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(PangolinDSOViewer.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)':
/usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()'
/usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdso.a(PangolinDSOViewer.cpp.o):/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references to boost::system::system_category()' follow
/usr/bin/ld: lib/libdso.a(PangolinDSOViewer.cpp.o): in function _GLOBAL__sub_I__ZN3dso6IOWrap17PangolinDSOViewerC2Eiib': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()'
/usr/bin/ld: lib/libdso.a(PangolinDSOViewer.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()'
/usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceIsPropertySupported'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnWaitAnyUpdateAll' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceIsCommandSupported'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniInitialize' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnCreateIRGenerator'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniShutdown' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetIRMetaData'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceEnableDepthColorSync' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamStop'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnCreateDepthGenerator' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceGetSensorInfo'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnContextRegisterForShutdown' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceClose'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniFrameRelease' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnForceShutdown'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnStartGeneratingAll' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetImageMap'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnContextRelease' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceGetInfo'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnCanFrameSyncWith' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnIsCapabilitySupported'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetStatusString' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamGetProperty'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnProductionNodeRelease' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnInit'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceSetProperty' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniReleaseDeviceList'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamDestroy' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnContextAddRef'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamStart' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnSetViewPoint'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceCreateStream' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamReadFrame'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceDisableDepthColorSync' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamSetProperty'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceOpen' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetDepthMap'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnContextUnregisterFromShutdown' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamGetSensorInfo'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetIRMap' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceInvoke'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnOSFreeAligned' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniGetDeviceList'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniStreamIsPropertySupported' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnCreateImageGenerator'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnFrameSyncWith' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnGetRefContextFromNodeHandle'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniGetExtendedError' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnProductionNodeAddRef'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnOSMemSet' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to oniDeviceGetProperty'
/usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnStopGeneratingAll' /usr/bin/ld: /usr/local/lib/libpangolin.so: undefined reference to xnSetMapOutputMode'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/dso_dataset.dir/build.make:161: bin/dso_dataset] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/dso_dataset.dir/all] Error 2
make: *** [Makefile:84: all] Error 2
`
There were also some other errors with ‘CV_LOAD_IMAGE_COLOR’ being undefined and I changed it to cv::IMREAD_COLOR .
I ran the make on Ubuntu 20.04 inside the virtual machine and OpenCV version 4.2.0.
Any suggestion on what could be causing these errors?

[kurosh-z]

UPDATE: I installed boost v. 1.67.0. It seems to be happy now with the boost::system but I'm still getting an error at 88% :

kurosh@ubuntu:~/repos/dso/build$ make -j8 Scanning dependencies of target dso [ 4%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/FullSystemOptimize.cpp.o [ 8%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/FullSystemOptPoint.cpp.o [ 16%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/FullSystemMarginalize.cpp.o [ 16%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/FullSystem.cpp.o [ 20%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/FullSystemDebugStuff.cpp.o [ 24%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/CoarseTracker.cpp.o [ 32%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/CoarseInitializer.cpp.o [ 32%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/Residuals.cpp.o [ 36%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/ImmaturePoint.cpp.o [ 40%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/HessianBlocks.cpp.o [ 44%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/PixelSelector2.cpp.o [ 48%] Building CXX object CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctional.cpp.o [ 52%] Building CXX object CMakeFiles/dso.dir/src/OptimizationBackend/AccumulatedTopHessian.cpp.o [ 56%] Building CXX object CMakeFiles/dso.dir/src/OptimizationBackend/AccumulatedSCHessian.cpp.o [ 60%] Building CXX object CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctionalStructs.cpp.o [ 64%] Building CXX object CMakeFiles/dso.dir/src/util/settings.cpp.o [ 68%] Building CXX object CMakeFiles/dso.dir/src/util/Undistort.cpp.o [ 72%] Building CXX object CMakeFiles/dso.dir/src/util/globalCalib.cpp.o [ 76%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp.o [ 80%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp.o [ 84%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp.o [ 88%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp.o c++: fatal error: Killed signal terminated program cc1plus compilation terminated. make[2]: *** [CMakeFiles/dso.dir/build.make:206: CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctional.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[1]: *** [CMakeFiles/Makefile2:105: CMakeFiles/dso.dir/all] Error 2 make: *** [Makefile:84: all] Error 2

[IldarGreat]

Hi, you can build dso with help Readme from https://github.com/IldarGreat/dso