Build error: flann error?

[Long1988X]

Build infos as follows, could u give me some advices, thanks!
In file included from /usr/include/flann/util/params.h:33:0,
from /usr/include/pcl/kdtree/kdtree_flann.h:44,
from /usr/include/pcl/search/kdtree.h:43,
from /usr/include/pcl/search/pcl_search.h:43,
from /usr/include/pcl/filters/statistical_outlier_removal.h:43,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_mapping.hpp:49,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_mapping.cpp:37:
/usr/include/flann/util/params.h:44:1: error: ‘flann_algorithm_t’ was not declared in this scope
SMALL_POLICY(flann_algorithm_t);
^
/usr/include/flann/util/params.h:44:1: error: template argument 1 is invalid
SMALL_POLICY(flann_algorithm_t);
^
/usr/include/flann/util/params.h:45:1: error: ‘flann_centers_init_t’ was not declared in this scope
SMALL_POLICY(flann_centers_init_t);
^
/usr/include/flann/util/params.h:45:1: error: template argument 1 is invalid
SMALL_POLICY(flann_centers_init_t);
^
/usr/include/flann/util/params.h:46:1: error: ‘flann_log_level_t’ was not declared in this scope
SMALL_POLICY(flann_log_level_t);
^
/usr/include/flann/util/params.h:46:1: error: template argument 1 is invalid
SMALL_POLICY(flann_log_level_t);
^
/usr/include/flann/util/params.h:47:1: error: ‘flann_datatype_t’ was not declared in this scope
SMALL_POLICY(flann_datatype_t);
^
/usr/include/flann/util/params.h:47:1: error: template argument 1 is invalid
SMALL_POLICY(flann_datatype_t);
^
In file included from /usr/include/pcl/kdtree/kdtree_flann.h:44:0,
from /usr/include/pcl/search/kdtree.h:43,
from /usr/include/pcl/search/pcl_search.h:43,
from /usr/include/pcl/filters/statistical_outlier_removal.h:43,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_mapping.hpp:49,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_mapping.cpp:37:
/usr/include/flann/util/params.h: In function ‘T flann::get_param(const IndexParams&, std::__cxx11::string)’:
/usr/include/flann/util/params.h:114:15: error: there are no arguments to ‘FLANNException’ that depend on a template parameter, so a declaration of ‘FLANNException’ must be available [-fpermissive]
throw FLANNException(std::string("Missing parameter '")+name+std::string("' in the parameters given"));
^~~~~~~~~~~~~~
/usr/include/flann/util/params.h:114:15: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
In file included from /usr/include/flann/util/params.h:33:0,
from /usr/include/pcl/kdtree/kdtree_flann.h:44,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/livox_feature_extractor.hpp:54,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_feature_extractor.hpp:57,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_feature_extractor.cpp:37:
/usr/include/flann/util/params.h:44:1: error: ‘flann_algorithm_t’ was not declared in this scope
SMALL_POLICY(flann_algorithm_t);
^
/usr/include/flann/util/params.h:44:1: error: template argument 1 is invalid
SMALL_POLICY(flann_algorithm_t);
^
/usr/include/flann/util/params.h:45:1: error: ‘flann_centers_init_t’ was not declared in this scope
SMALL_POLICY(flann_centers_init_t);
^
/usr/include/flann/util/params.h:45:1: error: template argument 1 is invalid
SMALL_POLICY(flann_centers_init_t);
^
/usr/include/flann/util/params.h:46:1: error: ‘flann_log_level_t’ was not declared in this scope
SMALL_POLICY(flann_log_level_t);
^
/usr/include/flann/util/params.h:46:1: error: template argument 1 is invalid
SMALL_POLICY(flann_log_level_t);
^
/usr/include/flann/util/params.h:47:1: error: ‘flann_datatype_t’ was not declared in this scope
SMALL_POLICY(flann_datatype_t);
^
/usr/include/flann/util/params.h:47:1: error: template argument 1 is invalid
SMALL_POLICY(flann_datatype_t);
^
In file included from /usr/include/pcl/kdtree/kdtree_flann.h:44:0,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/livox_feature_extractor.hpp:54,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_feature_extractor.hpp:57,
from /home/pikachu/My_test/ws_loam_livox/src/loam_livox/source/laser_feature_extractor.cpp:37:
/usr/include/flann/util/params.h: In function ‘T flann::get_param(const IndexParams&, std::__cxx11::string)’:
/usr/include/flann/util/params.h:114:15: error: there are no arguments to ‘FLANNException’ that depend on a template parameter, so a declaration of ‘FLANNException’ must be available [-fpermissive]
throw FLANNException(std::string("Missing parameter '")+name+std::string("' in the parameters given"));

[AscaFAce]

with add set(FLANN_INCLUDE /usr/include/flann) in the CMakeLists.txt