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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
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Compile Error about OpenCV multi-version: a lot of "undefined reference" #482

Open XunshanMan opened 6 years ago

XunshanMan commented 6 years ago

Hello! Thanks for visiting. I have been stuck in the issue for several days. I have successfully installed libfreenect2 and run ./Prototect and seen the output of rgb and depth images.

My computer has OpenCV 2.4.8( installed with ROS indigo), and OpenCV 3.2 compiled from source code with contrib modules. At first I compiled successfully but showed "segmentation fault" and crashed when I ran kinect2_bridge, and then I found out that I was compiled with OpenCV 3.2. So I changed it into OpenCV 2.4.8, but it got a lot of "undefined reference" error showing below.

I could make sure that I was using OpenCV 2.8 because in the CMakeLIsts.txt, I output ${OpenCV_LIBRARIES} and ${OpenCV_INCLUDE_DIRS}, which showed the path of version 2.4.8.

In my computer, I checked the paths of two opencv versions:

For OpenCV 3.2 include directories: /usr/local/include /usr/local/include/opencv libs: /usr/local/lib

For OpenCV 2.4.8 include directories: /usr/include/ /usr/include/opencv libs: /usr/lib/x86_64-linux-gnu

Thanks so much for the help! Output is as below.

XunshanMan commented 6 years ago

Here is the output of "catkin_make": `Base path: /home/jk/catkin_lzw Source space: /home/jk/catkin_lzw/src Build space: /home/jk/catkin_lzw/build Devel space: /home/jk/catkin_lzw/devel Install space: /home/jk/catkin_lzw/install

Running command: "make cmake_check_build_system" in "/home/jk/catkin_lzw/build"

-- Using CATKIN_DEVEL_PREFIX: /home/jk/catkin_lzw/devel -- Using CMAKE_PREFIX_PATH: /home/jk/catkin_lzw/devel;/home/jk/catkin_ros_qi/devel;/opt/ros/indigo -- This workspace overlays: /home/jk/catkin_lzw/devel;/home/jk/catkin_ros_qi/devel;/opt/ros/indigo -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/jk/catkin_lzw/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.6.19 -- BUILD_SHARED_LIBS is on -- Using CATKIN_WHITELIST_PACKAGES: kinect2_bridge -- ~~~~~~~~~~~~~ -- ~~ traversing 1 packages in topological order: -- ~~ - kinect2_bridge -- ~~~~~~~~~~~~~ -- +++ processing catkin package: 'kinect2_bridge' -- ==> add_subdirectory(iai_kinect2/kinect2_bridge) -- Using these message generators: gencpp;genlisp;genpy ---->OpenCV status: ---->OpenCV_INCLUDE_DIRS ---- /usr/include/opencv/usr/include ---->OpenCV_LIBRARIES ---- opencv_videostabopencv_videoopencv_superresopencv_stitchingopencv_photoopencv_oclopencv_objdetectopencv_mlopencv_legacyopencv_imgprocopencv_highguiopencv_gpuopencv_flannopencv_features2dopencv_coreopencv_contribopencv_calib3d -- Configuring done -- Generating done -- Build files have been written to: /home/jk/catkin_lzw/build

Running command: "make -j4 -l4" in "/home/jk/catkin_lzw/build"

Linking CXX executable /home/jk/catkin_lzw/devel/lib/kinect2_bridge/kinect2_bridge [ 50%] Built target kinect2_bridge_nodelet CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In function cvflann::anyimpl::big_any_policy<cv::String>::static_delete(void**)': kinect2_bridge.cpp:(.text._ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv[_ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv]+0x15): undefined reference tocv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In function cvflann::anyimpl::big_any_policy<cv::String>::move(void* const*, void**)': kinect2_bridge.cpp:(.text._ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE4moveEPKPvPS5_[_ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE4moveEPKPvPS5_]+0x10): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5[_ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5]+0x24): undefined reference to cv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functioncv::operator<<(std::ostream&, cv::Mat const&)': kinect2_bridge.cpp:(.text.unlikely+0x27): undefined reference to cv::Formatter::get(int)' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functioncv::String::String(char const)': kinect2_bridge.cpp:(.text._ZN2cv6StringC2EPKc[_ZN2cv6StringC5EPKc]+0x30): undefined reference to cv::String::allocate(unsigned long)' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functioncv::Mat::Mat(int, int, int, void, unsigned long)': kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x16d): undefined reference to cv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x1c7): undefined reference tocv::error(int, cv::String const&, char const, char const, int)' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x1cf): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x1fd): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x24a): undefined reference to cv::error(int, cv::String const&, char const*, char const*, int)' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x252): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x269): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN2cv3MatC2EiiiPvm[_ZN2cv3MatC5EiiiPvm]+0x27c): undefined reference tocv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In function Kinect2Bridge::createCompressed(cv::Mat const&, std_msgs::Header_<std::allocator<void> > const&, Kinect2Bridge::Image, sensor_msgs::CompressedImage_<std::allocator<void> >&) const': kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0xe3): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0xfb): undefined reference to cv::imencode(cv::String const&, cv::_InputArray const&, std::vector<unsigned char, std::allocator<unsigned char> >&, std::vector<int, std::allocator<int> > const&)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x103): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x170): undefined reference to cv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x191): undefined reference tocv::imencode(cv::String const&, cv::_InputArray const&, std::vector<unsigned char, std::allocator >&, std::vector<int, std::allocator > const&)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x199): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x22b): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x243): undefined reference to cv::imencode(cv::String const&, cv::_InputArray const&, std::vector<unsigned char, std::allocator<unsigned char> >&, std::vector<int, std::allocator<int> > const&)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x24b): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x263): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x276): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE[_ZNK13Kinect2Bridge16createCompressedERKN2cv3MatERKN8std_msgs7Header_ISaIvEEENS_5ImageERN11sensor_msgs16CompressedImage_IS6_EE]+0x2a7): undefined reference to cv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functionKinect2Bridge::receiveColor()': kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge12receiveColorEv[_ZN13Kinect2Bridge12receiveColorEv]+0x82f): undefined reference to cv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge12receiveColorEv[_ZN13Kinect2Bridge12receiveColorEv]+0x87c): undefined reference tocv::error(int, cv::String const&, char const, char const, int)' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge12receiveColorEv[_ZN13Kinect2Bridge12receiveColorEv]+0x884): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge12receiveColorEv[_ZN13Kinect2Bridge12receiveColorEv]+0x1073): undefined reference tocv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In function Kinect2Bridge::processIrDepth(cv::Mat const&, std::vector<cv::Mat, std::allocator<cv::Mat> >&, std::vector<Kinect2Bridge::Status, std::allocator<Kinect2Bridge::Status> > const&)': kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE[_ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE]+0x969): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE[_ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE]+0x9b6): undefined reference to cv::error(int, cv::String const&, char const*, char const*, int)' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE[_ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE]+0x9be): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE[_ZN13Kinect2Bridge14processIrDepthERKN2cv3MatERSt6vectorIS1_SaIS1_EERKS4_INS_6StatusESaIS8_EE]+0xadf): undefined reference to cv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functionKinect2Bridge::loadCalibrationFile(std::string const&, cv::Mat&, cv::Mat&) const': kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4]+0x77): undefined reference to cv::FileStorage::open(cv::String const&, int, cv::String const&)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_]+0x83): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4]+0x8b): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_]+0xf9): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4]+0x404): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge19loadCalibrationFileERKSsRN2cv3MatES4_]+0x435): undefined reference tocv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In function Kinect2Bridge::loadCalibrationPoseFile(std::string const&, cv::Mat&, cv::Mat&) const': kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_]+0x77): undefined reference tocv::FileStorage::open(cv::String const&, int, cv::String const&)' kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4]+0x83): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_]+0x8b): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4]+0xf9): undefined reference to cv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_[_ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4_]+0x404): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text.ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4[ZNK13Kinect2Bridge23loadCalibrationPoseFileERKSsRN2cv3MatES4]+0x435): undefined reference to cv::String::deallocate()' CMakeFiles/kinect2_bridge.dir/src/kinect2_bridge.cpp.o: In functionKinect2Bridge::loadCalibrationDepthFile(std::string const&, double&) const': kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x70): undefined reference to cv::FileStorage::open(cv::String const&, int, cv::String const&)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x7c): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x84): undefined reference to cv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0xe9): undefined reference tocv::String::allocate(unsigned long)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x11d): undefined reference to cv::read(cv::FileNode const&, double&, double)' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x2b2): undefined reference tocv::String::deallocate()' kinect2_bridge.cpp:(.text._ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd[_ZNK13Kinect2Bridge24loadCalibrationDepthFileERKSsRd]+0x2c6): undefined reference to cv::String::deallocate()' collect2: error: ld returned 1 exit status make[2]: *** [/home/jk/catkin_lzw/devel/lib/kinect2_bridge/kinect2_bridge] Error 1 make[1]: *** [iai_kinect2/kinect2_bridge/CMakeFiles/kinect2_bridge.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j4 -l4" failed

fengjiufa commented 4 years ago

Hello, Do you sovle it? I faced it samely, i hope you help me . Thanks!

XunshanMan commented 4 years ago

Hello, Do you sovle it? I faced it samely, i hope you help me . Thanks!

Hi, since it have been a long time, I forgot the detail. But I'm sure the problem "undefined reference to.." happens because of linking to the wrong libs of OpenCV. For example, you include .h files of opencv3, but you link to libs of opencv2. If you install only one OpenCV version on your PC, I think the problem will not occur.