diff --git a/corelib/include/rtabmap/core/GeodeticCoords.h b/corelib/include/rtabmap/core/GeodeticCoords.h
index d78d1939..e92fa625 100644
--- a/corelib/include/rtabmap/core/GeodeticCoords.h
+++ b/corelib/include/rtabmap/core/GeodeticCoords.h
@@ -31,11 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/RtabmapExp.h>
 
-#include <opencv2/core/types.hpp>
+#include <opencv2/core/core.hpp>
 
-namespace RTABMAP_EXP rtabmap {
+namespace rtabmap {
 
-class GeodeticCoords
+class RTABMAP_EXP GeodeticCoords
 {
 public:
 	GeodeticCoords();
diff --git a/corelib/src/GeodeticCoords.cpp b/corelib/src/GeodeticCoords.cpp
index 9cd1cc51..fa40b748 100644
--- a/corelib/src/GeodeticCoords.cpp
+++ b/corelib/src/GeodeticCoords.cpp
@@ -42,10 +42,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/GeodeticCoords.h"
 
-#include <math.h>
+#include <cmath>
+#ifndef M_PI
+#define M_PI       3.14159265358979323846
+#endif
 
 namespace rtabmap {
 
+
 inline double DEG2RAD(const double x) { return x*M_PI/180.0;}
 inline double square(const double & value) {return value*value;}
 
diff --git a/corelib/src/Parameters.cpp b/corelib/src/Parameters.cpp
index 7e1a5860..ae2c1212 100644
--- a/corelib/src/Parameters.cpp
+++ b/corelib/src/Parameters.cpp
@@ -30,7 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <rtabmap/utilite/UStl.h>
-#include <math.h>
+#include <cmath>
 #include <stdlib.h>
 #include <sstream>
 #include "SimpleIni.h"
diff --git a/utilite/include/rtabmap/utilite/ULogger.h b/utilite/include/rtabmap/utilite/ULogger.h
index 5d468cab..57886d42 100644
--- a/utilite/include/rtabmap/utilite/ULogger.h
+++ b/utilite/include/rtabmap/utilite/ULogger.h
@@ -379,7 +379,7 @@ public:
     		int line,
     		const char *function,
     		const char* msg,
-    		...) throw(UException);
+    		...);
 
     /**
      * Get the time in the format "2008-7-13 12:23:44".