Symbol Lookup Error: using visp generic-rgbd-realsense module

dvedova commented 4 years ago

Hello,

I am attempting to build an run the executables for the tutorial on Markerless generic model-based tracking using a RGB-D camera https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-tracking-mb-generic-rgbd.html

When I follow the tutorial to install visp, and build everything, I get the following error:

(base) dvedova@danny-ThinkPad-P52s:~/visp-tracking/generic-rgbd/build$ ./tutorial-mb-generic-tracker-rgbd-realsense ./tutorial-mb-generic-tracker-rgbd-realsense: symbol lookup error: ./tutorial-mb-generic-tracker-rgbd-realsense: undefined symbol: _ZN12vpRealSense24openERKN3rs26configE

I am running ubuntu 18.04, and I installed visp from source. I have tried going through the tutorials several times, and I can get other modules to work, but for some reason, I cannot get the tutorial-mb-generic-tracker-rgbd or tutorial-mb-generic-tracker-rgbd-realsense executables to run without sending the symbol lookup error.

I would really appreciate any assistance with this problem. Thank you!

s-trinh commented 4 years ago

Hi,

Can you copy/paste the content of the ViSP-third-party.txt file located in the ViSP build directory? Also, which version of librealsense are you using? How did you install the librealsense library?

dvedova commented 4 years ago

Thanks for the reply!

I am using librealsesne ver 2.33.1, which I cloned from github this morning and installed by following the directions at https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-ubuntu.html under the instructions for advanced visp installation.

Here is the text from the ViSP-third-party.txt file:

==========================================================
General configuration information for ViSP 3.3.1

  Version control:               3.2.0-1046-g69f2a00f5

  Platform:
    Timestamp:                   2020-05-25T01:18:03Z
    Host:                        Linux 5.3.0-51-generic x86_64
    CMake:                       3.10.2
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               Release

  C/C++:
    Built as dynamic libs?:      yes
    C++ Compiler:                /usr/bin/c++  (ver 5.5.0)
    C++ flags (Release):         -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
    C++ flags (Debug):           -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
    C flags (Debug):             -Wall -Wextra -fopenmp -std=c++11 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
    Linker flags (Release):      
    Linker flags (Debug):        

  ViSP modules:
    To be built:                 core gui imgproc io java_bindings_generator klt me sensor ar blob robot visual_features vs vision detection mbt tt tt_mi
    Disabled:                    -
    Disabled by dependency:      -
    Unavailable:                 java

  Python (for build):            /home/dvedova/anaconda2/bin/python2.7

  Java:                          
    ant:                         NO
    JNI:                         /usr/lib/jvm/java-8-openjdk-amd64/include /usr/lib/jvm/java-8-openjdk-amd64/include/linux /usr/lib/jvm/java-8-openjdk-amd64/include

  Build options: 
    Build deprecated:            yes
    Build with moment combine:   no

  Mathematics: 
    Blas/Lapack:                 yes
    \- Use MKL:                  no
    \- Use OpenBLAS:             no
    \- Use Atlas:                no
    \- Use Netlib:               yes (ver 3.7.1)
    \- Use GSL:                  no
    \- Use Lapack (built-in):    no
    Use Eigen3:                  yes (ver 3.3.4)
    Use OpenCV:                  yes (ver 3.2.0)

  Simulator: 
    Ogre simulator: 
    \- Use Ogre3D:               yes (ver 1.9.0)
    \- Use OIS:                  yes (ver 1.3.0)
    Coin simulator: 
    \- Use Coin3D:               yes (ver 4.0.0)
    \- Use SoWin:                no
    \- Use SoXt:                 no
    \- Use SoQt:                 no
    \- Use Qt5:                  no
    \- Use Qt4:                  no
    \- Use Qt3:                  no

  Media I/O: 
    Use JPEG:                    yes (ver 80)
    Use PNG:                     yes (ver 1.6.34)
    \- Use ZLIB:                 yes (ver 1.2.11)
    Use OpenCV:                  yes (ver 3.2.0)
    Use stb_image (built-in):    no

  Real robots: 
    Use Afma4:                   no
    Use Afma6:                   no
    Use Franka:                  no
    Use Viper650:                no
    Use Viper850:                no
    Use aria (Pioneer):          no
    Use PTU46:                   no
    Use Biclops PTU:             no
    Use Flir PTU SDK:            no
    Use Parrot ARSDK:            no
    \-Use ffmpeg:                no
    Use Virtuose:                no
    Use qbdevice (built-in):     yes (ver 2.6.0)
    Use takktile2 (built-in):    yes (ver 1.0.0)

  GUI: 
    Use X11:                     yes
    Use GTK:                     no
    Use OpenCV:                  yes (ver 3.2.0)
    Use GDI:                     no
    Use Direct3D:                no

  Cameras: 
    Use DC1394-2.x:              yes (ver 2.2.5)
    Use CMU 1394:                no
    Use V4L2:                    yes (ver 1.14.2)
    Use directshow:              no
    Use OpenCV:                  yes (ver 3.2.0)
    Use Flycapture:              no
    Use Pylon:                   no

  RGB-D sensors: 
    Use Realsense:               no
    Use Realsense2:              yes (ver 2.33.1)
    Use Kinect:                  no
    \- Use libfreenect:          no
    \- Use libusb-1:             yes (ver 1.0.21)
    \- Use pthread:              yes
    Use PCL:                     yes (ver 1.8.1)
    \- Use VTK:                  yes (ver 6.3.0)

  F/T sensors: 
    Use atidaq (built-in):       no
    Use comedi:                  no
    Use IIT SDK:                 no

  Detection: 
    Use zbar:                    yes (ver 0.10)
    Use dmtx:                    yes (ver 0.7.4)
    Use AprilTag (built-in):     yes (ver 3.1.1)
    \- Use AprilTag big family:  no

  Misc: 
    Use Clipper (built-in):      yes (ver 6.4.2)
    Use pugixml (built-in):      yes (ver 1.9.0)
    Use libxml2:                 yes (ver 2.9.4)

  Optimization: 
    Use OpenMP:                  yes
    Use pthread:                 yes
    Use pthread (built-in):      no
    Use cxx standard:            11

  Documentation: 
    Use doxygen:                 no

  Tests and samples:
    Use catch2 (built-in):       yes (ver 2.9.2)
    Tests:                       yes
    Demos:                       yes
    Examples:                    yes
    Tutorials:                   yes

  Install path:                  /usr/local

==========================================================

fspindle commented 4 years ago

I suspect that you have multiple visp versions installed, and at least one that is not linked against librealsense. This visp version was maybe installed either from libvisp-dev package or from ros-<distro>-visp package.

Check running:

$ ldd ~/visp-tracking/generic-rgbd/build/tutorial-mb-generic-tracker-rgbd-realsense | grep libvisp_core
$ sudo updatedb
$ locate libvisp_core.so

and reply with the results of these commands

dvedova commented 4 years ago

I think you are right that there are multiple visp versions installed (several of the versions seem to be in the trash; this is because I tried deleting my visp-ws directory and retrying the installation instructions, but I think when I deleted the visp-ws directory I did not actually uninstall visp).

Here are the results of running the aforementioned commands: (base) dvedova@danny-ThinkPad-P52s:~/mbt_tracking_ws$ ldd ~/visp-tracking/generic-rgbd/build/tutorial-mb-generic-tracker-rgbd-realsense | grep libvisp_core libvisp_core.so.3.3 => /opt/ros/melodic/lib/libvisp_core.so.3.3 (0x00007f69f4ea4000)

(base) dvedova@danny-ThinkPad-P52s:~/mbt_tracking_ws$ sudo updatedb

(base) dvedova@danny-ThinkPad-P52s:~/mbt_tracking_ws$ locate libvisp_core.so
/home/dvedova/.local/share/Trash/files/visp-ws/visp-build/lib/libvisp_core.so
/home/dvedova/.local/share/Trash/files/visp-ws/visp-build/lib/libvisp_core.so.3.3
/home/dvedova/.local/share/Trash/files/visp-ws/visp-build/lib/libvisp_core.so.3.3.1
/home/dvedova/.local/share/Trash/files/visp-ws2/visp-build/lib/libvisp_core.so
/home/dvedova/.local/share/Trash/files/visp-ws2/visp-build/lib/libvisp_core.so.3.3
/home/dvedova/.local/share/Trash/files/visp-ws2/visp-build/lib/libvisp_core.so.3.3.1
/home/dvedova/catkin_ws/src/visp-release/lib/libvisp_core.so
/home/dvedova/catkin_ws/src/visp-release/lib/libvisp_core.so.3.3
/home/dvedova/catkin_ws/src/visp-release/lib/libvisp_core.so.3.3.0
/home/dvedova/visp-ws/visp-build/lib/libvisp_core.so
/home/dvedova/visp-ws/visp-build/lib/libvisp_core.so.3.3
/home/dvedova/visp-ws/visp-build/lib/libvisp_core.so.3.3.1
/opt/ros/melodic/lib/libvisp_core.so
/opt/ros/melodic/lib/libvisp_core.so.3.3
/opt/ros/melodic/lib/libvisp_core.so.3.3.0
(base) dvedova@danny-ThinkPad-P52s:~/mbt_tracking_ws$

dvedova commented 4 years ago

What would be the best way of solving the issue? Should I delete all of the versions I have and reinstall one more time?

s-trinh commented 4 years ago

ldd ~/visp-tracking/generic-rgbd/build/tutorial-mb-generic-tracker-rgbd-realsense | grep libvisp_core libvisp_core.so.3.3 => /opt/ros/melodic/lib/libvisp_core.so.3.3 (0x00007f69f4ea4000)

What I would do:

uninstall ViSP installed by ROS, but before confirming
note the ROS packages that will be uninstalled because they depend on ROS ViSP
uninstall ROS ViSP
clone from source the ROS packages that have been uninstalled
build them using your version of ViSP built from source

cheacheavpor commented 3 years ago

What would be the best way of solving the issue? Should I delete all of the versions I have and reinstall one more time How did you finally solve your problem? reinstall it? I will appreciate it if you could share me some experience. I met the absolutely same issue as yours.

fspindle commented 3 years ago

Identify all the ViSP versions you have installed. There should be one in /opt/ros/distroand maybe an other one build from source in $HOME/visp-ws/visp-build and if you did make install the corresponding installation in /usr/local.
```
$ sudo updatedb
$ locate libvisp_core.so
```
Identify all the ROS packages that depend on ROS ViSP installed in /opt/ros/distro. Use sudo synapticand search for "visp" keyword. Here you could find the libvisp-dev package and also ROS packages ros-distro-visp, ros-distro-vision-visp...
Remove all installed ubuntu packages that mention visp: libvisp-dev, ros-distro-visp, ros-distro-vision-visp...
Do again step 1. Here you should find only one installation, the one build from source in $HOME/visp-ws/visp-build and if you did make install the corresponding installation in /usr/local.

Update ViSP from source to the last github version

$ cd $HOME/visp-ws/visp
$ git pull
$ cd ../visp-build
$ make -j4
$ sudo make install

Install from source all ROS packages that you are using

$ cd $HOME/catkin_ws/src
$ git clone https://github.com/lagadic/vision_visp
$ cd ..
$ catkin_make -j4

Keep in mind that the objective of all these steps is:

to have a single up to date version of visp installed in /usr/local
build all the packages that are using ViSP from source and link them to the version installed in /usr/local

cheacheavpor commented 3 years ago

Identify all the ViSP versions you have installed. There should be one in /opt/ros/distroand maybe an other one build from source in $HOME/visp-ws/visp-build and if you did make install the corresponding installation in /usr/local.
$ sudo updatedb
$ locate libvisp_core.so
Identify all the ROS packages that depend on ROS ViSP installed in /opt/ros/distro. Use sudo synapticand search for "visp" keyword. Here you could find the libvisp-dev package and also ROS packages ros-distro-visp, ros-distro-vision-visp...

Remove all installed ubuntu packages that mention visp: libvisp-dev, ros-distro-visp, ros-distro-vision-visp...

Do again step 1. Here you should find only one installation, the one build from source in $HOME/visp-ws/visp-build and if you did make install the corresponding installation in /usr/local.
Update ViSP from source to the last github version
$ cd $HOME/visp-ws/visp
$ git pull
$ cd ../visp-build
$ make -j4
$ sudo make install
Install from source all ROS packages that you are using
$ cd $HOME/catkin_ws/src
$ git clone https://github.com/lagadic/vision_visp
$ cd ..
$ catkin_make -j4
Keep in mind that the objective of all these steps is:

to have a single up to date version of visp installed in /usr/local

build all the packages that are using ViSP from source and link them to the version installed in /usr/local

Hi Fabien: Thanks for replying. Your instruction was clear and detailed. Many thanks,

lagadic / visp

Symbol Lookup Error: using visp generic-rgbd-realsense module #766