[compile error] "RangeImageSpherical link error in windows"

[ZhuLingfeng1993]

Describe the error

range_image_visualization.cpp.obj : error LNK2001: 无法解析的外部符号 "public: virtual void cdecl pcl::RangeImage::getSubImage(int,int,int,int,int,class pcl::RangeImage &)const " (?getSubImage@RangeImage@pcl@@UEBAXHHHHHAEAV12@@Z) range_image_visualization.cpp.obj : error LNK2001: 无法解析的外部符号 "public: virtual void cdecl pcl::RangeImage::getHalfImage(class pcl::RangeImage &)const " (?getHalfImage@RangeImage@pcl@@UEBAXAEAV12@@Z) range_image_visualization.cpp.obj : error LNK2019: 无法解析的外部符号 "protected: static int const pcl::RangeImage::lookup_table_size" (?lookup_table_size@RangeImage@pcl@@1HB)，函数 "protected: static float cdecl pcl::RangeImage::asinLookUp(float)" (?asinLookUp@RangeImage@pcl@@KAMM@Z) 中引用了该符号 range_image_visualization.cpp.obj : error LNK2019: 无法解析的外部符号 "protected: static class std::vector<float,class std::allocator > pcl::RangeImage::asin_lookup_table" (?asin_lookup_table@RangeImage@pcl@@1V?$vector@MV?$allocator@M@std@@@std@@A)，函数 "protected: static float cdecl pcl::RangeImage::asinLookUp(float)" (?asinLookUp@RangeImage@pcl@@KAMM@Z) 中引用了该符号 range_image_visualization.cpp.obj : error LNK2019: 无法解析的外部符号 "protected: static class std::vector<float,class std::allocator > pcl::RangeImage::atan_lookup_table" (?atan_lookup_table@RangeImage@pcl@@1V?$vector@MV?$allocator@M@std@@@std@@A)，函数 "protected: static float __cdecl pcl::RangeImage::atan2LookUp(float,float)" (?atan2LookUp@RangeImage@pcl@@KAMMM@Z) 中引用了该符号 range_image_visualization.exe : fatal error LNK1120: 5 个无法解析的外部命令

To Reproduce

Screenshots/Code snippets/Build information

#include <iostream>

#include <pcl/range_image/range_image.h>
#include <pcl/range_image/range_image_spherical.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/parse.h>

typedef pcl::PointXYZ PointType;

// --------------------
// -----Parameters-----
// --------------------
float angular_resolution_x = 0.5f,
      angular_resolution_y = angular_resolution_x;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool live_update = false;

// --------------
// -----Help-----
// --------------
void 
printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "<<progName<<" [options] <scene.pcd>\n\n"
            << "Options:\n"
            << "-------------------------------------------\n"
            << "-rx <float>  angular resolution in degrees (default "<<angular_resolution_x<<")\n"
            << "-ry <float>  angular resolution in degrees (default "<<angular_resolution_y<<")\n"
            << "-c <int>     coordinate frame (default "<< (int)coordinate_frame<<")\n"
            << "-l           live update - update the range image according to the selected view in the 3D viewer.\n"
            << "-h           this help\n"
            << "\n\n";
}

void 
setViewerPose (pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f& viewer_pose)
{
  Eigen::Vector3f pos_vector = viewer_pose * Eigen::Vector3f(0, 0, 0);
  Eigen::Vector3f look_at_vector = viewer_pose.rotation () * Eigen::Vector3f(0, 0, 1) + pos_vector;
  Eigen::Vector3f up_vector = viewer_pose.rotation () * Eigen::Vector3f(0, -1, 0);
  viewer.setCameraPosition (pos_vector[0], pos_vector[1], pos_vector[2],
                            look_at_vector[0], look_at_vector[1], look_at_vector[2],
                            up_vector[0], up_vector[1], up_vector[2]);
}

// --------------
// -----Main-----
// --------------
int 
main (int argc, char** argv)
{
  // --------------------------------------
  // -----Parse Command Line Arguments-----
  // --------------------------------------
  if (pcl::console::find_argument (argc, argv, "-h") >= 0)
  {
    printUsage (argv[0]);
    return 0;
  }
  if (pcl::console::find_argument (argc, argv, "-l") >= 0)
  {
    live_update = true;
    std::cout << "Live update is on.\n";
  }
  if (pcl::console::parse (argc, argv, "-rx", angular_resolution_x) >= 0)
    std::cout << "Setting angular resolution in x-direction to "<<angular_resolution_x<<"deg.\n";
  if (pcl::console::parse (argc, argv, "-ry", angular_resolution_y) >= 0)
    std::cout << "Setting angular resolution in y-direction to "<<angular_resolution_y<<"deg.\n";
  int tmp_coordinate_frame;
  if (pcl::console::parse (argc, argv, "-c", tmp_coordinate_frame) >= 0)
  {
    coordinate_frame = pcl::RangeImage::CoordinateFrame (tmp_coordinate_frame);
    std::cout << "Using coordinate frame "<< (int)coordinate_frame<<".\n";
  }
  angular_resolution_x = pcl::deg2rad (angular_resolution_x);
  angular_resolution_y = pcl::deg2rad (angular_resolution_y);

  // ------------------------------------------------------------------
  // -----Read pcd file or create example point cloud if not given-----
  // ------------------------------------------------------------------
  pcl::PointCloud<PointType>::Ptr point_cloud_ptr (new pcl::PointCloud<PointType>);
  pcl::PointCloud<PointType>& point_cloud = *point_cloud_ptr;
  Eigen::Affine3f scene_sensor_pose (Eigen::Affine3f::Identity ());
  std::vector<int> pcd_filename_indices = pcl::console::parse_file_extension_argument (argc, argv, "pcd");
  if (!pcd_filename_indices.empty ())
  {
    std::string filename = argv[pcd_filename_indices[0]];
    if (pcl::io::loadPCDFile (filename, point_cloud) == -1)
    {
      std::cout << "Was not able to open file \""<<filename<<"\".\n";
      printUsage (argv[0]);
      return 0;
    }
    scene_sensor_pose = Eigen::Affine3f (Eigen::Translation3f (point_cloud.sensor_origin_[0],
                                                             point_cloud.sensor_origin_[1],
                                                             point_cloud.sensor_origin_[2])) *
                        Eigen::Affine3f (point_cloud.sensor_orientation_);
  }
  else
  {
    std::cout << "\nNo *.pcd file given => Generating example point cloud.\n\n";
    for (float x=-0.5f; x<=0.5f; x+=0.01f)
    {
      for (float y=-0.5f; y<=0.5f; y+=0.01f)
      {
        PointType point;  point.x = x;  point.y = y;  point.z = 2.0f - y;
        point_cloud.push_back (point);
      }
    }
    point_cloud.width = point_cloud.size ();  point_cloud.height = 1;
  }

  // -----------------------------------------------
  // -----Create RangeImage from the PointCloud-----
  // -----------------------------------------------
  float noise_level = 0.0;
  float min_range = 0.0f;
  int border_size = 1;
  // pcl::RangeImage::Ptr range_image_ptr(new pcl::RangeImage);
  auto range_image_ptr = pcl::make_shared<pcl::RangeImageSpherical>();  
  pcl::RangeImage& range_image = *range_image_ptr;
  range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
                                    pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
                                    scene_sensor_pose, coordinate_frame, noise_level, min_range, border_size);

  // --------------------------------------------
  // -----Open 3D viewer and add point cloud-----
  // --------------------------------------------
  pcl::visualization::PCLVisualizer viewer ("3D Viewer");
  viewer.setBackgroundColor (1, 1, 1);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
  viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
  viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
  //viewer.addCoordinateSystem (1.0f, "global");
  //PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
  //viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
  viewer.initCameraParameters ();
  setViewerPose(viewer, range_image.getTransformationToWorldSystem ());

  // --------------------------
  // -----Show range image-----
  // --------------------------
  // pcl::visualization::RangeImageVisualizer range_image_widget ("Range image");
  // range_image_widget.showRangeImage (range_image);

  //--------------------
  // -----Main loop-----
  //--------------------
  while (!viewer.wasStopped ())
  {
    // range_image_widget.spinOnce ();
    viewer.spinOnce ();
    pcl_sleep (0.01);

    // if (live_update)
    // {
    //   scene_sensor_pose = viewer.getViewerPose();
    //   range_image.createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
    //                                     pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
    //                                     scene_sensor_pose, pcl::RangeImage::LASER_FRAME, noise_level, min_range, border_size);
    //   range_image_widget.showRangeImage (range_image);
    // }
  }
}

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)

project(range_image_visualization)

find_package(PCL 1.12 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

if (${PCL_VERSION} VERSION_EQUAL "1.12.0" AND MSVC)
    #        Add avx flags to fix bug,
    #        see github.com/PointCloudLibrary/pcl/issues/4859,
    #        github.com/PointCloudLibrary/pcl/issues/5003
    #        github.com/PointCloudLibrary/pcl/issues/4698
    set(AVX_FLAGS "/arch:AVX2 /arch:AVX")
    message(STATUS "Add avx flags: ${AVX_FLAGS}")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${AVX_FLAGS}")
endif ()

add_executable (range_image_visualization range_image_visualization.cpp)
target_link_libraries (range_image_visualization ${PCL_LIBRARIES})

Your Environment (please complete the following information):

• OS: [Win10]
• Compiler: [Visual Studio 2019]
• PCL Version [1.12.0] (NB: please ensure you don't have multiple versions available: I have only this version)
• PCL Type: [Installed]

Additional context

When I use RangeImage, everything is ok(except for the visualization of range image, so I commnet relative code), but when I use RangeImageShperical, the link error occuored.

[ZhuLingfeng1993]

The code is the PCL tutorial code of "How to visualize range image”

[mvieth]

I tested the code you posted under Ubuntu 21.10 (gcc 11.2.0), and it compiled successfully. So this might be an MSVC-only issue. How did you install PCL? With vcpkg or the all-in-one installer or some other way?

[ZhuLingfeng1993]

I use the all-in-one installer

[mvieth]

@larshg Could you have a look at this? Seems to be Windows-only