TBB Warnings and Compilation Error

[acxz]

Description:
First off, I'd like to thank you guys for creating an amazing piece of software in the VIO realm, truly amazing work and I hope it gets used more. I maintain the ArchLinux package here for this codebase, and recently the build started failing. This is due to a compilation error with one of the tests files: testMesher.cpp. Also with an updated version of TBB, tbb/mutex.h has been deprecated. If this can be fixed as well, it would be nice to stop seeing such a cluttered build output. Having the build be fixed so ArchLinux users can start using this project again would be great.

Command:

make

Console output:

[ 80%] Building CXX object CMakeFiles/testKimeraVIO.dir/tests/testParallelPlaneRegularTangentSpaceFactor.cpp.o
In file included from /usr/include/gtsam/geometry/Unit3.h:36,
                 from /usr/include/gtsam/geometry/Rot3.h:25,
                 from /usr/include/gtsam/geometry/OrientedPlane3.h:23,
                 from /home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testParallelPlaneRegularBasicFactor.cpp:25:
/usr/include/tbb/mutex.h:21:140: note: #pragma message: TBB Warning: tbb/mutex.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.
   21 | #pragma message("TBB Warning: tbb/mutex.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.")
      |                                                                                                                                            ^
In file included from /usr/include/gtsam/base/types.h:31,
                 from /usr/include/gtsam/inference/Key.h:25,
                 from /usr/include/gtsam/linear/Scatter.h:22,
                 from /usr/include/gtsam/linear/VectorValues.h:20,
                 from /usr/include/gtsam/base/numericalDerivative.h:31,
                 from /home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testParallelPlaneRegularTangentSpaceFactor.cpp:21:
/usr/include/tbb/task_scheduler_init.h:21:154: note: #pragma message: TBB Warning: tbb/task_scheduler_init.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.
   21 | #pragma message("TBB Warning: tbb/task_scheduler_init.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.")
      |                                                                                                                                                          ^
/home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testMesher.cpp:25:15: error: expected constructor, destructor, or type conversion before ‘(’ token
   25 | DECLARE_string(test_data_path);
      |               ^
/home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testMesher.cpp: In constructor ‘VIO::MesherFixture::MesherFixture()’:
/home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testMesher.cpp:38:29: error: ‘FLAGS_test_data_path’ was not declared in this scope
   38 |     img_name_ = std::string(FLAGS_test_data_path) + "/chessboard_small.png";
      |                             ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/gtsam/geometry/Unit3.h:36,
                 from /usr/include/gtsam/geometry/Rot3.h:25,
                 from /usr/include/gtsam/geometry/OrientedPlane3.h:23,
                 from /home/acxz/.cache/yay/kimera-vio/src/Kimera-VIO-5.0/tests/testParallelPlaneRegularTangentSpaceFactor.cpp:25:
/usr/include/tbb/mutex.h:21:140: note: #pragma message: TBB Warning: tbb/mutex.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.
   21 | #pragma message("TBB Warning: tbb/mutex.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.")
      |                       

Additional files:
None needed.

Please give also the following information:

• SparkVio branch, tag or commit used: 5.0
• GTSAM version used: 4.0.2
• OpenGV version used: Master branch, following commit at time of testing
• OpenCV version used: 4.2.0
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): ArchLinux
• Did you change the source code? (yes / no): no

[ToniRV]

Uh oh! These warnings looks ugly indeed, but we are not using tbb mutex explicitly but perhaps via gtsam.
Hopefully they have solved this issue.

Concerning the failing testMesher I think it is because I forgot to include gflags there, but I was not seeing any issue neither locally nor in Jenkins... Hopefully now it is fixed.

[acxz]

Thx so much! Yeah the TBB warnings can be traced to this issue: borglab/gtsam#208

[ToniRV]

Thank you @acxz, I hope the issue is resolved from gtsam side (I'll try to ping them).