An error when building opencv4.5.1-with-contrib

I have been building opencv-4.5.1-with-contrib in windows 10, but encountered a fatal error.
The building tool I used is cmake-gui(mingw64 in msys2) and mingw32-make.
The following is the error message:

$ mingw32-make
[ 64%] Processing OpenCL kernels (rgbd)
Scanning dependencies of target opencv_rgbd
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_cleaner.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_registration.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/depth_to_3d.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dqb.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/dynafu_tsdf.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/fast_icp.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/hash_tsdf.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/kinfu_frame.cpp.obj
[ 64%] Building CXX object modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/large_kinfu.cpp.obj
In file included from D:/msys64/mingw64/include/ceres/internal/autodiff.h:153,
                from D:/msys64/mingw64/include/ceres/autodiff_cost_function.h:130,
                from D:/msys64/mingw64/include/ceres/ceres.h:37,
                from D:\toolkit\opencv-4.5.1\opencv_contrib-4.5.1\modules\rgbd\src\pose_graph.hpp:15,
                from D:\toolkit\opencv-4.5.1\opencv_contrib-4.5.1\modules\rgbd\src\submap.hpp:16,
                from D:\toolkit\opencv-4.5.1\opencv_contrib-4.5.1\modules\rgbd\src\large_kinfu.cpp:12:
D:/msys64/mingw64/include/ceres/jet.h: In function 'double ceres::BesselJ0(double)':
D:/msys64/mingw64/include/ceres/jet.h:603:10: error: 'j0' was not declared in this scope
 603 |   return j0(x);
     |          ^~
D:/msys64/mingw64/include/ceres/jet.h: In function 'double ceres::BesselJ1(double)':
D:/msys64/mingw64/include/ceres/jet.h:610:10: error: 'j1' was not declared in this scope
 610 |   return j1(x);
     |          ^~
D:/msys64/mingw64/include/ceres/jet.h: In function 'double ceres::BesselJn(int, double)':
D:/msys64/mingw64/include/ceres/jet.h:617:10: error: 'jn' was not declared in this scope; did you mean 'n'?
 617 |   return jn(n, x);
     |          ^~
     |          n
mingw32-make[2]: *** [modules\rgbd\CMakeFiles\opencv_rgbd.dir\build.make:233: modules/rgbd/CMakeFiles/opencv_rgbd.dir/src/large_kinfu.cpp.obj] Error 1
mingw32-make[1]: *** [CMakeFiles\Makefile2:6043: modules/rgbd/CMakeFiles/opencv_rgbd.dir/all] Error 2
mingw32-make: *** [Makefile:165: all] Error 2

The following is my cmake configuration message:

General configuration for OpenCV 4.5.1 =====================================
  Version control:               unknown

  Extra modules:
    Location (extra):            D:/toolkit/opencv-4.5.1/opencv_contrib-4.5.1/modules
    Version control (extra):     unknown

    Timestamp:                   2021-07-05T03:02:13Z
    Host:                        Windows 10.0.19042 AMD64
    CMake:                       3.20.3
    CMake generator:             MinGW Makefiles
    CMake build tool:            D:/toolkit/mingw64/bin/mingw32-make.exe
    Configuration:               Release

  CPU/HW features:
    Baseline:                    SSE SSE2 SSE3
      requested:                 SSE3
    Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
      requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
      SSE4_1 (17 files):         + SSSE3 SSE4_1
      SSE4_2 (2 files):          + SSSE3 SSE4_1 POPCNT SSE4_2
      FP16 (1 files):            + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
      AVX (5 files):             + SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (31 files):           + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
      AVX512_SKX (7 files):      + SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_COMMON AVX512_SKX

    Built as dynamic libs?:      YES
    C++ standard:                11
    C++ Compiler:                D:/msys64/mingw64/bin/x86_64-w64-mingw32-g++.exe  (ver 10.3.0)
    C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  D:/msys64/mingw64/bin/x86_64-w64-mingw32-gcc.exe
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -msse3 -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,--gc-sections  
    Linker flags (Debug):        -Wl,--gc-sections  
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 alphamat aruco bgsegm bioinspired calib3d ccalib core datasets dnn dnn_objdetect dnn_superres dpm face features2d flann fuzzy gapi hdf hfs highgui img_hash imgcodecs imgproc intensity_transform line_descriptor mcc ml objdetect optflow ovis phase_unwrapping photo plot python3 quality rapid reg rgbd saliency sfm shape stereo stitching structured_light superres surface_matching text tracking ts video videoio videostab xfeatures2d ximgproc xobjdetect xphoto
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 cnn_3dobj cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev cvv freetype java julia matlab python2 viz
    Applications:                tests perf_tests apps
    Documentation:               NO
    Non-free algorithms:         YES

  Windows RT support:            NO

    Win32 UI:                    YES
    VTK support:                 NO

  Media I/O: 
    ZLib:                        build (ver 1.2.11)
    JPEG:                        build-libjpeg-turbo (ver 2.0.6-62)
    WEBP:                        build (ver encoder: 0x020f)
    PNG:                         build (ver 1.6.37)
    TIFF:                        build (ver 42 - 4.0.10)
    JPEG 2000:                   build (ver 2.3.1)
    OpenEXR:                     build (ver 2.3.0)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      NO
    FFMPEG:                      YES (prebuilt binaries)
      avcodec:                   YES (58.91.100)
      avformat:                  YES (58.45.100)
      avutil:                    YES (56.51.100)
      swscale:                   YES (5.7.100)
      avresample:                YES (4.0.0)
    GStreamer:                   NO
    DirectShow:                  YES

  Parallel framework:            none

  Trace:                         YES (built-in)

  Other third-party libraries:
    Lapack:                      NO
    Eigen:                       YES (ver 3.3.9)
    Custom HAL:                  NO
    Protobuf:                    build (3.5.1)

  OpenCL:                        YES (no extra features)
    Include path:                D:/toolkit/opencv-4.5.1/3rdparty/include/opencl/1.2
    Link libraries:              Dynamic load

  Python 3:
    Interpreter:                 D:/msys64/mingw64/bin/python3.exe (ver 3.8.9)
    Libraries:                   D:/msys64/mingw64/lib/libpython3.8.dll.a (ver 3.8.9)
    numpy:                       D:/msys64/mingw64/lib/python3.8/site-packages/numpy/core/include (ver 1.21.0)
    install path:                /registry/Lib/site-packages/cv2/python-3.8

  Python (for build):            D:/msys64/mingw64/bin/python3.exe

    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    D:/toolkit/opencv-4.5.1/build/install

Configuring done
Generating done

I will be so thankful if you can help me solve the trouble!

which version of ceres is it ?
(and do you really need the rgbd module ?)

the version of ceres is 2.0.0-2

I just want to use some simple contrib modules likes SIFT or SURF etc. So maybe I don’t need the rgbd module.

and the mingw version ? (can it do cxx14 ?)

you can either try with an older ceres, or disable the rgbd module, like:


in the cmake cmdline

also note, that SIFT is in the main, features2d module now (patent expired), but to use SURF, you still need the


cmake flag

mingw version is 10.3.0, i use it in msys2.
ceres library is also in msys2, so badly it cannt return to version 1.14.0

this flag i have done before:

but, the error for ceres stiil appeared when i comply with this flag:

it’s probably from the SFM module, but we need to see the resp. errors here, we cannot guess those…

I’ll try something else, thanks a lot!