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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
1.58k stars 544 forks source link

Undefined symbols for architecture x86_64: #62

Closed drhalftone closed 9 years ago

drhalftone commented 9 years ago

I'm trying to compile in Mac OS X 10.10 against Boost 1.57, which I installed using homebrew. Here is the relevant part of the compiler log:

Linking CXX shared library libpointmatcher.dylib Undefined symbols for architecture x86_64: "boost::filesystem::path::operator/=(boost::filesystem::path const&)", referenced from: PointMatcherIO::FileInfoVector::localToGlobalFileName(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o PointMatcherIO::FileInfoVector::localToGlobalFileName(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o "boost::filesystem::detail::initial_path(boost::system::errorcode)", referenced from: PointMatcherSupport::validateFile(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o "boost::filesystem::detail::status(boost::filesystem::path const&, boost::system::errorcode)", referenced from: PointMatcherIO::FileInfoVector::localToGlobalFileName(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o PointMatcherIO::FileInfoVector::localToGlobalFileName(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o "boost::filesystem::absolute(boost::filesystem::path const&, boost::filesystem::path const&)", referenced from: PointMatcherSupport::validateFile(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o "boost::system::system_category()", referenced from: boost::mutex::unlock() in Logger.cpp.o boost::unique_lockboost::mutex::lock() in Logger.cpp.o boost::mutex::lock() in Logger.cpp.o boost::mutex::mutex() in Logger.cpp.o GLOBALI_a in Logger.cpp.o GLOBALI_a in Exceptions.cpp.o GLOBALI_a in DataPoints.cpp.o ... "boost::system::generic_category()", referenced from: GLOBALI_a in Logger.cpp.o GLOBALI_a in Exceptions.cpp.o GLOBALI_a in DataPoints.cpp.o GLOBALI_a in Matches.cpp.o GLOBALI_a in ICP.cpp.o GLOBALI_a in Registry.cpp.o GLOBALI_a in Registrar.cpp.o ... "boost::filesystem::path::parent_path() const", referenced from: PointMatcherIO::FileInfoVector::FileInfoVector(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator >, std::1::basic_string<char, std::__1::char_traits, std::1::allocator >) in IO.cpp.o PointMatcherIO::FileInfoVector::FileInfoVector(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&, std::1::basic_string<char, std::__1::char_traits, std::1::allocator >, std::1::basic_string<char, std::__1::char_traits, std::1::allocator >) in IO.cpp.o "boost::filesystem::path::extension() const", referenced from: PointMatcher::DataPoints::load(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o PointMatcher::DataPoints::load(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) in IO.cpp.o PointMatcher::DataPoints::save(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) const in IO.cpp.o PointMatcher::DataPoints::save(std::1::basic_string<char, std::__1::char_traits, std::1::allocator > const&) const in IO.cpp.o ld: symbol(s) not found for architecture x86_64 clang: error: linker command failed with exit code 1 (use -v to see invocation) make[2]: * [libpointmatcher.1.2.1.dylib] Error 1 make[1]: * [CMakeFiles/pointmatcher.dir/all] Error 2 make: *\ [all] Error 2 22:21:13: The process "/usr/bin/make" exited with code 2. Error while building/deploying project libpointmatcher (kit: Desktop Qt 5.4.0 clang 64bit) When executing step "Make" 22:21:13: Elapsed time: 00:08.

drhalftone commented 9 years ago

I think I know what the problem is, but don't know how to fix it. I think CMake is not using the Clang++ compiler provided by Xcode 6.1.1. Anyone know how to do this?

drhalftone commented 9 years ago

Okay, I found a solution, and as a person who really hates CMake, I'm not surprised its as convoluted a process as it is. I completely erased the libpointmatcher source code and re-downloaded it fresh. I then added "-G Xcode" to the CMake command to create an Xcode project. Here, I could actually see that there were no libraries being linked. So I aded a, "Link Binary with Libraries," phase under, "Build Phases." I had to add it because it wasn't already there. I then manually added all of my boost libraries from their brew directory. I then compiled the code without issue.

samlcharreyron commented 9 years ago

Where are your Boost 1.57 libraries located? Homebrew should symlink them into /usr/local/ which would be picked up by CMake but sometimes that isn't the case. You can fix links with:

brew <link/unlink> boost
drhalftone commented 9 years ago

Cmake says it detected boost in the brew locations. I found another git project complaining about Cmake and xcode 6.1.1 issue with Cmake not detecting the latest clang compiler which lead me to my conclusions.

Sent from my iPhone

On Jan 29, 2015, at 3:35 AM, Samuel Charreyron notifications@github.com wrote:

Where are your Boost 1.57 libraries located? Homebrew should symlink them into /usr/local/ which would be picked up by CMake but sometimes that isn't the case. You can fix links with:

brew <link/unlink> boost — Reply to this email directly or view it on GitHub.

drhalftone commented 9 years ago

I will try this and get back to you shortly.

Sent from my iPhone

On Jan 29, 2015, at 3:35 AM, Samuel Charreyron notifications@github.com wrote:

Where are your Boost 1.57 libraries located? Homebrew should symlink them into /usr/local/ which would be picked up by CMake but sometimes that isn't the case. You can fix links with:

brew <link/unlink> boost — Reply to this email directly or view it on GitHub.

drhalftone commented 9 years ago

I unlinked and then re-linked boost to no avail.

On Jan 29, 2015, at 3:35 AM, Samuel Charreyron notifications@github.com wrote:

Where are your Boost 1.57 libraries located? Homebrew should symlink them into /usr/local/ which would be picked up by CMake but sometimes that isn't the case. You can fix links with:

brew <link/unlink> boost — Reply to this email directly or view it on GitHub https://github.com/ethz-asl/libpointmatcher/issues/62#issuecomment-71987877.

drhalftone commented 9 years ago

Found the error in the CMakeLists.txt file for the entire project. The issue was fixed with line 215:

target_link_libraries(pointmatcher ${yaml-cpp_LIBRARIES} ${libnabo_LIBRARIES})

Notice that it is missing the Boost libraries. So I modified the line to read:

target_link_libraries(pointmatcher ${yaml-cpp_LIBRARIES} ${libnabo_LIBRARIES} ${Boost_LIBRARIES})

And now its creating the dylib files. Now the problem happens at 100% completion with the following error when compiling the unit tests:

Apple LLVM version 6.0 (clang-600.0.56) (based on LLVM 3.5svn) Target: x86_64-apple-darwin14.1.0 Thread model: posix "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld" -demangle -dynamic -arch x86_64 -macosx_version_min 10.10.0 -o utest -search_paths_first -headerpad_max_install_names CMakeFiles/utest.dir/utest.cpp.o CMakeFiles/utest.dir/ui/IO.cpp.o CMakeFiles/utest.dir/ui/DataFilters.cpp.o CMakeFiles/utest.dir/ui/Matcher.cpp.o CMakeFiles/utest.dir/ui/Outliers.cpp.o CMakeFiles/utest.dir/ui/ErrorMinimizers.cpp.o CMakeFiles/utest.dir/ui/Transformations.cpp.o CMakeFiles/utest.dir/ui/DataPoints.cpp.o CMakeFiles/utest.dir/ui/Inspectors.cpp.o CMakeFiles/utest.dir/ui/Loggers.cpp.o ../contrib/libgtest.a ../libpointmatcher.1.2.1.dylib -framework OpenCL /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib /usr/local/lib/libboost_program_options-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_chrono-mt.dylib ../contrib/yaml-cpp-pm/libyaml-cpp-pm.a /Users/dllau/Libraries/libnabo/build/libnabo.a /usr/local/lib/libboost_thread-mt.dylib /usr/local/lib/libboost_filesystem-mt.dylib /usr/local/lib/libboost_system-mt.dylib /usr/local/lib/libboost_program_options-mt.dylib /usr/local/lib/libboost_date_time-mt.dylib /usr/local/lib/libboost_chrono-mt.dylib -lc++ -lSystem /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../lib/clang/6.0/lib/darwin/libclang_rt.osx.a Undefined symbols for architecture x86_64: "PointMatcherIO::loadPLY(std::__1::basic_istream<char, std::__1::char_traits >&)", referenced from: IOTest_loadPLY_Test::TestBody() in IO.cpp.o ld: symbol(s) not found for architecture x86_64 clang: error: linker command failed with exit code 1 (use -v to see invocation) make[2]: * [utest/utest] Error 1 make[1]: * [utest/CMakeFiles/utest.dir/all] Error 2 make: *\ [all] Error 2