Compilation error with MSYS2 mingw-w64, 'M_PI' was not defined in this scope #3679

FSund · 2020-02-26T10:34:34Z

When compiling pcl on Windows using MSYS2 mimgw-w64 I get a lot of 'M_PI' was not declared in this scope errors.

Full error log

[  0%] Building CXX object common/CMakeFiles/pcl_common.dir/src/bearing_angle_image.cpp.obj
cd /C/msys64/home/filip.sund/code/pcl-fsund/build/common && /C/msys64/mingw64/bin/g++.exe  -DBOOST_LIB_DIAGNOSTIC -DBOOST_THREAD_USE_LIB -DPCLAPI_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" -I/C/msys64/mingw64/include/vtk-8.2 -I/C/msys64/mingw64/include/freetype2 -I/C/msys64/mingw64/include/double-conversion -I/C/msys64/home/filip.sund/code/pcl-fsund/build/include -I/C/msys64/home/filip.sund/code/pcl-fsund/common/include -isystem /C/msys64/mingw64/include/eigen3 -isystem /C/msys64/home/filip.sund/code/pcl-fsund/recognition/include/pcl/recognition/3rdparty  -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -march=native -msse4.2 -mfpmath=sse  -mwin32 -mthreads -O3 -DNDEBUG   -DBOOST_DISABLE_ASSERTS -DEIGEN_NO_DEBUG -std=c++14 -o CMakeFiles/pcl_common.dir/src/bearing_angle_image.cpp.obj -c /C/msys64/home/filip.sund/code/pcl-fsund/common/src/bearing_angle_image.cpp
C:/msys64/home/filip.sund/code/pcl-fsund/common/src/bearing_angle_image.cpp: In member function 'double pcl::BearingAngleImage::getAngle(const pcl::PointXYZ&, const pcl::PointXYZ&)':
C:/msys64/home/filip.sund/code/pcl-fsund/common/src/bearing_angle_image.cpp:78:73: error: 'M_PI' was not declared in this scope
   78 |     theta = std::acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;
      |                                                                         ^~~~
make[2]: *** [common/CMakeFiles/pcl_common.dir/build.make:258: common/CMakeFiles/pcl_common.dir/src/bearing_angle_image.cpp.obj] Error 1
make[2]: Leaving directory '/home/filip.sund/code/pcl-fsund/build'
make[1]: *** [CMakeFiles/Makefile2:1033: common/CMakeFiles/pcl_common.dir/all] Error 2
make[1]: Leaving directory '/home/filip.sund/code/pcl-fsund/build'
make: *** [Makefile:152: all] Error 2

The first error is in bearing_angle_image.cpp, but I see M_PI is used in many other places as well.

Exact steps to reproduce are:

Install MSYS2 and all dependencies on Windows 10
Clone pcl

cd pcl
mkdir build
cd build
cmake -G"MSYS Makefiles" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr ..
make

How to fix

What I did was to just add a top-level add_definitions(-D_USE_MATH_DEFINES) to CMakeLists.txt, but I realize this is not the proper way to fix this.

I see some trickery is happening on Windows in pcl_macros.h, but I am not certain if there is a similar way to do it for MSYS2.

I think the root issue is that the CMake command set(CMAKE_CXX_STANDARD 14) causes the -std=gnu++14 flag to be added on Linux, but on Windows+MSYS2 the -std=c++14 flag is added instead. This that M_PI is not defined on MSYS2, since that macro is not part of the C++14 standard. This is not true. Since we have set(CMAKE_CXX_EXTENSIONS OFF) Linux, the flag is the same on Linux and Windows/MSYS2.

Your Environment

Operating System and version: Windows 10, Version 10.0.18363 Build 18363
Compiler: g++.exe (Rev2, Built by MSYS2 project) 9.2.0
PCL Version: commit b1d9c7e

The text was updated successfully, but these errors were encountered:

kunaltyagi · 2020-02-26T11:44:55Z

I think mingw is simply broken due to assumption of msvc. Since it seems you are using MinGW, could you please help to improve the support on CI? That'd be a nice help apart from PR to resolve the issues.

FSund · 2020-02-26T13:25:34Z

What assumption of MSVC do you mean? That Windows == MSVC?

I have no experience with CI unfortunately.

taketwo · 2020-02-26T14:17:58Z

Regarding your fix idea, we already have that define in pcl_macros.h:

pcl/common/include/pcl/pcl_macros.h

Lines 58 to 59 in b1d9c7e

    
           #ifndef _USE_MATH_DEFINES 
        
           #define _USE_MATH_DEFINES

Regarding gnu++14, is this true? Because we have set(CMAKE_CXX_EXTENSIONS OFF) in our CMakeLists, so extensions should not be used.

kunaltyagi · 2020-02-26T21:46:40Z

That Windows == MSVC?

Yeah. We compile and test on Windows using only MSVC

Regarding gnu++14, is this true?

No, I tested and PCL definitely uses c++14 and not gnu++14 as the compiler flag

I have no experience with CI unfortunately

It's not a big issue. I'd suggest to look at the yaml files in the .ci folder. The mingw would be a hybrid between Windows and Ubuntu-16 yaml files. If you document what commands you run to compile and test, the CI is essentially exactly those commands.

FSund · 2020-02-27T06:31:48Z

Sorry, I was just assuming the gnu++14 flag was being added on Linux, didn't realize you had set(CMAKE_CXX_EXTENSIONS OFF).

It's kind of strange the #define _USE_MATH_DEFINES in pcl_macros.h doesn't seem to be registering when I'm compiling. I'll have a look into

I'll have a look at the yaml files and try to make a PR after I've fixed the compilation issues I'm having.

FSund · 2020-02-27T06:59:01Z

I think I might be on to something. The first 'M_PI' was not declared error I get is in bearing_angle_image.cpp at line 78

pcl/common/src/bearing_angle_image.cpp

Line 78 in 4316e11

theta = std::acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;

Now, the first include in this file is

pcl/common/src/bearing_angle_image.cpp

Line 43 in 4316e11

#include <pcl/common/eigen.h>

and the first lines of eigen.h are

pcl/common/include/pcl/common/eigen.h

Lines 43 to 55 in 4316e11

    
           #pragma once 
        
           #ifndef NOMINMAX 
        
           #define NOMINMAX 
        
           #endif 
        
           #if defined __GNUC__ 
        
           #  pragma GCC system_header 
        
           #elif defined __SUNPRO_CC 
        
           #  pragma disable_warn 
        
           #endif 
        
           #include <cmath>

So this is the first time the cmath header is included in the context of bearing_angle_image.cpp, and no _USE_MATH_DEFINES has been defined so far. This means that M_PI should not be available at all in bearing_angle_image.cpp, or am I misunderstanding something?

I'm not sure why compilation works on other platforms/compilers though, since the code would be the same for those.

Now if we just swap L55 and L56 of eigen.h

pcl/common/include/pcl/common/eigen.h

Lines 55 to 56 in 4316e11

    
           #include <cmath> 
        
           #include <pcl/ModelCoefficients.h>

it seems like the error would go away, since ModelCoefficients.h includes pcl_macros.h (a couple of includes deep) before the cmath header is included. But I'm still not sure if this is the actual issue here, since compilation works on other platforms. EDIT: Or just remove L55, since cmath is included deeper down anyway, with the correct define ahead of it.

kunaltyagi · 2020-02-27T09:18:34Z

Could you check if #3545 fixes this issue?

FSund · 2020-02-27T09:41:26Z

I'll check that PR asap, but I've made several discoveries lately:

Seems like Eigen includes cmath in some places, so you need to be very careful of the order in which Eigen is included, since any includes after that (even with _USE_MATH_DEFINES) will not lead to M_PI being defined.
- https://gitlab.com/libeigen/eigen/-/blob/master/Eigen/Core#L72
- https://gitlab.com/libeigen/eigen/-/blob/master/unsupported/Eigen/CXX11/Tensor#L36

You already have the necessary M_PI and similar defines in pcl_macros.h, but they are only enabled for Windows+MSVC. Instead of relying on M_PI being defined in external headers I would just enable this code for all platforms, or perhaps put the definitions in a separate file. Any reasons why this would be a bad idea?

pcl/common/include/pcl/pcl_macros.h

Lines 107 to 123 in b1d9c7e

    
           #ifndef _MATH_DEFINES_DEFINED 
        
             #define _MATH_DEFINES_DEFINED 
        
             #define M_E        2.71828182845904523536   // e 
        
             #define M_LOG2E    1.44269504088896340736   // log2(e) 
        
             #define M_LOG10E   0.434294481903251827651  // log10(e) 
        
             #define M_LN2      0.693147180559945309417  // ln(2) 
        
             #define M_LN10     2.30258509299404568402   // ln(10) 
        
             #define M_PI       3.14159265358979323846   // pi 
        
             #define M_PI_2     1.57079632679489661923   // pi/2 
        
             #define M_PI_4     0.785398163397448309616  // pi/4 
        
             #define M_1_PI     0.318309886183790671538  // 1/pi 
        
             #define M_2_PI     0.636619772367581343076  // 2/pi 
        
             #define M_2_SQRTPI 1.12837916709551257390   // 2/sqrt(pi) 
        
             #define M_SQRT2    1.41421356237309504880   // sqrt(2) 
        
             #define M_SQRT1_2  0.707106781186547524401  // 1/sqrt(2) 
        
           #endif

I changed

pcl/common/include/pcl/pcl_macros.h

Line 103 in b1d9c7e

#if defined _WIN32 && defined _MSC_VER

to

#if defined _WIN32 && (defined _MSC_VER || defined __MINGW32__)

and everything compiled fine with mingw-w64 (as long as I remember add_definitions(-DPCL_ONLY_CORE_POINT_TYPES)).

FSund · 2020-02-27T10:58:49Z

#3545 did not fix the issue, compilation fails in the same place as before

Building CXX object common/CMakeFiles/pcl_common.dir/src/bearing_angle_image.cpp.obj
cd /C/msys64/home/filip.sund/code/pcl/build/common && /C/msys64/mingw64/bin/g++.exe  -DBOOST_LIB_DIAGNOSTIC -DBOOST_THREAD_USE_LIB -DPCLAPI_EXPORTS -DPCL_ONLY_CORE_POINT_TYPES -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" -I/C/msys64/mingw64/include/vtk-8.2 -I/C/msys64/mingw64/include/freetype2 -I/C/msys64/mingw64/include/double-conversion -I/C/msys64/home/filip.sund/code/pcl/build/include -I/C/msys64/home/filip.sund/code/pcl/common/include -isystem /C/msys64/mingw64/include/eigen3 -isystem /C/msys64/home/filip.sund/code/pcl/recognition/include/pcl/recognition/3rdparty  -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion -march=native -msse4.2 -mfpmath=sse  -mwin32 -mthreads -O3 -DNDEBUG   -DBOOST_DISABLE_ASSERTS -DEIGEN_NO_DEBUG -std=c++14 -o CMakeFiles/pcl_common.dir/src/bearing_angle_image.cpp.obj -c /C/msys64/home/filip.sund/code/pcl/common/src/bearing_angle_image.cpp
C:/msys64/home/filip.sund/code/pcl/common/src/bearing_angle_image.cpp: In member function 'double pcl::BearingAngleImage::getAngle(const pcl::PointXYZ&, const pcl::PointXYZ&)':
C:/msys64/home/filip.sund/code/pcl/common/src/bearing_angle_image.cpp:84:73: error: 'M_PI' was not declared in this scope
   84 |     theta = std::acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;
      |                                                                         ^~~~

kunaltyagi added platform: windows kind: compile error Type of issue labels Feb 26, 2020

This was referenced Feb 27, 2020

Fix mingw-w64 compilation issues #3686

Closed

Fix mingw-w64 issues with math defines #3700

Closed

FSund mentioned this issue Mar 16, 2020

Fix issues with math defines on mingw-w64. #3756

Merged

taketwo closed this as completed in #3756 Mar 19, 2020

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Compilation error with MSYS2 mingw-w64, 'M_PI' was not defined in this scope #3679

Compilation error with MSYS2 mingw-w64, 'M_PI' was not defined in this scope #3679

FSund commented Feb 26, 2020 •

edited

kunaltyagi commented Feb 26, 2020

FSund commented Feb 26, 2020

taketwo commented Feb 26, 2020

kunaltyagi commented Feb 26, 2020 •

edited

FSund commented Feb 27, 2020

FSund commented Feb 27, 2020 •

edited

kunaltyagi commented Feb 27, 2020

FSund commented Feb 27, 2020

FSund commented Feb 27, 2020

Compilation error with MSYS2 mingw-w64, 'M_PI' was not defined in this scope #3679

Compilation error with MSYS2 mingw-w64, 'M_PI' was not defined in this scope #3679

Comments

FSund commented Feb 26, 2020 • edited

How to fix

Your Environment

kunaltyagi commented Feb 26, 2020

FSund commented Feb 26, 2020

taketwo commented Feb 26, 2020

kunaltyagi commented Feb 26, 2020 • edited

FSund commented Feb 27, 2020

FSund commented Feb 27, 2020 • edited

kunaltyagi commented Feb 27, 2020

FSund commented Feb 27, 2020

FSund commented Feb 27, 2020

FSund commented Feb 26, 2020 •

edited

kunaltyagi commented Feb 26, 2020 •

edited

FSund commented Feb 27, 2020 •

edited