Using ICC with ROS

[Maneesh_Agrawala]

Hi all,

I'm trying to use ICC to compile a package I've made for ROS (www.ros.org). My package depends on a package in the standard ROS library, called PCL, which has already been compiled, I believe using gcc. When I compile my code using gcc, it works fine. However, when I try to compile with icc, I get the following two errors:

/opt/ros/diamondback/stacks/perception_pcl/pcl/include/pcl/point_cloud.h(195):
error: argument list for class template "pcl::PointCloud" is missing friend
boost::shared_ptr& detail::getMapping(PointCloud& p);

and

/opt/ros/diamondback/stacks/perception_pcl/pcl/include/pcl/point_cloud.h(195):
error: declaration is incompatible with function template
"boost::shared_ptr<:MSGFIELDMAP>
&pcl::detail::getMapping(pcl::PointCloud &)" (declared at line 204)
friend boost::shared_ptr&
detail::getMapping(PointCloud& p); ^ detected during instantiation
of class "pcl::PointCloud [with PointT=rgbd::pt]" at line 64 of
"/home/rheld/Documents/Code/kinect/rgbd/branches/pcl/rgbd-ros-pkg/kinect_tracker/include/Model.h"

I believe these are the lines of code in question from Model.h:

typedef rgbd::pt PointT;

void loadTextCloud(char* fname, pcl::PointCloud &cloud);

struct AlignData {

pcl::PointCloud curr_cloud; (THIS IS LINE 64)

pcl::PointCloud cloud;

vector err_vector; int num_outliers;

Eigen::Transform3f xform;

Eigen::Transform3f temp_pose;

};

Any tips?

[Judith_W_Intel]

I'm afraid we're going to need more details on how to reproduce the errors. Can you post a preprocessed file (created using the icpc-P -E options)?

Also helpful would be:

(1) what version of icpc you are using
(2) what version of g++ you are using

thanks
Judy

[Maneesh_Agrawala]

Hi Judy,

These are the lines I'm using in my CMakeLists file:

set (CMAKE_C_COMPILER /opt/intel/bin/icc)

set (CMAKE_CXX_COMPILER /opt/intel/bin/icpc)

set (CMAKE_C_EXECUTABLE /opt/intel/bin/xild)

set (CMAKE_CXX_EXECUTABLE /opt/intel/bin/xild)

set (CMAKE_C_FLAGS "-msse3 -ip -no-prec-div -parallel -O3 -fPIC " )

set (CMAKE_CXX_FLAGS "-msse3 -ip -no-prec-div -parallel -O3 -fPIC " )

set (CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,/opt/intel/lib -L/opt/intel/lib -lguide -lcxaguard -limf -lsvml -lirc -lpthread -lintlc" )

Which I got fromhttp://www.ros.org/wiki/rosbuild. Where should I place the -P -E options? And what kind of name will the preprocessed file have? Sorry, I'm a little new to this process.

~Robin

[Maneesh_Agrawala]

Also, here are the compiler versions:

gcc version 4.5.2 (Ubuntu/Linaro 4.5.2-8ubuntu4)

icpc (ICC) 12.0.4 20110427

~Robin

[TimP]

icpc 12 no longer has a libguide. If you include -parallel in the options at link time, the current OpenMP library and -lpthread, as well as any other libraries needed from the compiler installation, would be added automatically by icpc in its invocation of the pre-link steps. I don't remember whether libcxaguard is still available, but it's preferable to simply use normal options rather than specifying a list of libraries associated with some past version of icpc and bypass the C compiler in its normal role for driving a link.
The -E -P options are pretty much similar to those use by g++ for pre-processing only, and you would specify the file name same as you would with g++. You're asking a lot to expect people to second guess you here, when you don't even show error messages.

[rheld1]

(I'm the original poster, but was using Maneesh's account before).

Thanks for the feedback, Tim. I'll try making those changes. But what other error messages did you want? My first post included the error messages that I received from the compiler.