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stereolabs / zed-opencv

ZED SDK interface sample for OpenCV
https://www.stereolabs.com/docs/opencv/
MIT License
137 stars 79 forks source link

Using OpenCV 3.1 #8

Closed eduardohenriquearnold closed 7 years ago

eduardohenriquearnold commented 8 years ago

Hi. I am using the latest SDK Version, 0.94. Although the ZED framework uses OpenCV 2.4, which I have compiled, my application was developed using OpenCV 3.1 and I cannot afford to adapt it to the previous version.

I am able to run the ZED apps such as Depth Viewer and Explorer with the 2.4 so files I've placed in the ZED libs folder. When I try to compile an application, however, using the sample CMake script it simply says that The following configuration files were considered but not accepted: /usr/local/share/OpenCV/OpenCVConfig.cmake, version: 3.1.0.

Another try was to try to link both OpenCV 2.4 and 3.1 libs and the result was 

g++ -o record record.o `pkg-config --libs opencv zed cuda-7.5`
/usr/bin/ld: warning: libopencv_core.so.2.4, needed by /usr/local/zed/lib/libsl_zed.so, may conflict with libopencv_core.so.3.1
/usr/bin/ld: warning: libopencv_highgui.so.2.4, needed by /usr/local/zed/lib/libsl_zed.so, may conflict with libopencv_highgui.so.3.1
/usr/bin/ld: warning: libopencv_features2d.so.2.4, needed by /usr/local/zed/lib/libopencv_calib3d.so.2.4, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_flann.so.2.4, needed by /usr/local/zed/lib/libopencv_calib3d.so.2.4, not found (try using -rpath or -rpath-link)
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::Index::~Index()'
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::imwrite(std::string const&, cv::_InputArray const&, std::vector<int, std::allocator<int> > const&)'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::SimpleBlobDetector::SimpleBlobDetector(cv::SimpleBlobDetector::Params const&)'
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::SimpleBlobDetector::Params::Params()'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::LinearIndexParams::LinearIndexParams()'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::Index::Index(cv::_InputArray const&, cv::flann::IndexParams const&, cvflann::flann_distance_t)'
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::namedWindow(std::string const&, int)'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::IndexParams::~IndexParams()'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::Index::knnSearch(cv::_InputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, int, cv::flann::SearchParams const&)'
/usr/local/zed/lib/libsl_calibration.so: undefined reference to `cv::Exception::Exception(int, std::string const&, std::string const&, std::string const&, int)'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::FeatureDetector::detect(cv::Mat const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&, cv::Mat const&) const'
/usr/local/zed/lib/libopencv_calib3d.so.2.4: undefined reference to `cv::flann::SearchParams::SearchParams(int, float, bool)'
collect2: error: ld returned 1 exit status
Makefile:13: recipe for target 'record' failed
make: *** [record] Error 1

PS: I've written a .pc file to make it easier to use Make, the contents can be seen here.

eduardohenriquearnold commented 8 years ago

I think I have almost managed to make it work. By using OpenCV 2.4.12 instead of 2.4.9 as the documentation suggested and placing core, calib3d, highgui, imgproc libs inside ZED lib folder, I was able to reduce the errors to:

g++ -o record record.o `pkg-config --libs opencv zed cuda-7.5`
/usr/bin/ld: warning: libopencv_core.so.2.4, needed by /usr/local/zed/lib/libsl_zed.so, may conflict with libopencv_core.so.3.1
/usr/bin/ld: warning: libopencv_highgui.so.2.4, needed by /usr/local/zed/lib/libsl_zed.so, may conflict with libopencv_highgui.so.3.1
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::imwrite(std::string const&, cv::_InputArray const&, std::vector<int, std::allocator<int> > const&)'
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)'
/usr/local/zed/lib/libsl_zed.so: undefined reference to `cv::namedWindow(std::string const&, int)'
/usr/local/zed/lib/libsl_calibration.so: undefined reference to `cv::Exception::Exception(int, std::string const&, std::string const&, std::string const&, int)'
collect2: error: ld returned 1 exit status
Makefile:13: recipe for target 'record' failed
make: *** [record] Error 1

I also tried the following:

/usr/local/zed/lib$ ldd -r libsl_zed.so 
    linux-vdso.so.1 =>  (0x00007ffd9c9a3000)
    libcudart.so.7.5 => /usr/local/cuda/lib64/libcudart.so.7.5 (0x00007fd2830f8000)
    libsl_calibration.so => /usr/local/zed/lib/libsl_calibration.so (0x00007fd282e05000)
    libsl_depthcore.so => /usr/local/zed/lib/libsl_depthcore.so (0x00007fd28289e000)
    libopencv_core.so.2.4 => /usr/local/zed/lib/libopencv_core.so.2.4 (0x00007fd2822ac000)
    libopencv_highgui.so.2.4 => /usr/local/zed/lib/libopencv_highgui.so.2.4 (0x00007fd281f55000)
    libopencv_imgproc.so.2.4 => /usr/local/zed/lib/libopencv_imgproc.so.2.4 (0x00007fd281a45000)
    libopencv_calib3d.so.2.4 => /usr/local/zed/lib/libopencv_calib3d.so.2.4 (0x00007fd28176d000)
    libnppc.so.7.5 => /usr/local/cuda/lib64/libnppc.so.7.5 (0x00007fd281504000)
    libnppi.so.7.5 => /usr/local/cuda/lib64/libnppi.so.7.5 (0x00007fd27d632000)
    libnpps.so.7.5 => /usr/local/cuda/lib64/libnpps.so.7.5 (0x00007fd27ce45000)
    libusb-0.1.so.4 => /lib/x86_64-linux-gnu/libusb-0.1.so.4 (0x00007fd27cc20000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fd27c89d000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fd27c595000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fd27c37e000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fd27bfb3000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fd27bdaf000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fd27bb91000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fd27b988000)
    libopencv_video.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_video.so.2.4 (0x00007fd27b732000)
    libcudpp.so => /usr/local/zed/lib/libcudpp.so (0x00007fd271e0a000)
    libcuda.so.1 => /usr/lib/x86_64-linux-gnu/libcuda.so.1 (0x00007fd270e55000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fd270c3a000)
    libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007fd2709e5000)
    libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007fd2707be000)
    libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007fd27054b000)
    libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007fd2702f4000)
    libgtk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgtk-x11-2.0.so.0 (0x00007fd26fca7000)
    libgdk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk-x11-2.0.so.0 (0x00007fd26f9f2000)
    libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007fd26f79f000)
    libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007fd26f48f000)
    libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007fd26f21b000)
    libavcodec-ffmpeg.so.56 => /usr/lib/x86_64-linux-gnu/libavcodec-ffmpeg.so.56 (0x00007fd26de76000)
    libavformat-ffmpeg.so.56 => /usr/lib/x86_64-linux-gnu/libavformat-ffmpeg.so.56 (0x00007fd26da89000)
    libavutil-ffmpeg.so.54 => /usr/lib/x86_64-linux-gnu/libavutil-ffmpeg.so.54 (0x00007fd26d81b000)
    libswscale-ffmpeg.so.3 => /usr/lib/x86_64-linux-gnu/libswscale-ffmpeg.so.3 (0x00007fd26d59b000)
    libopencv_features2d.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.12/build/lib/libopencv_features2d.so.2.4 (0x00007fd26d2ef000)
    libopencv_flann.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.12/build/lib/libopencv_flann.so.2.4 (0x00007fd26d07b000)
    /lib64/ld-linux-x86-64.so.2 (0x0000559353322000)
    liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007fd26ce58000)
    libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007fd26cc4a000)
    libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007fd26ca45000)
    libpangocairo-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangocairo-1.0.so.0 (0x00007fd26c838000)
    libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007fd26c4fe000)
    libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007fd26c2f7000)
    libatk-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libatk-1.0.so.0 (0x00007fd26c0d2000)
    libcairo.so.2 => /usr/lib/x86_64-linux-gnu/libcairo.so.2 (0x00007fd26bdbf000)
    libgdk_pixbuf-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk_pixbuf-2.0.so.0 (0x00007fd26bb9c000)
    libgio-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgio-2.0.so.0 (0x00007fd26b81b000)
    libpangoft2-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpangoft2-1.0.so.0 (0x00007fd26b605000)
    libpango-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libpango-1.0.so.0 (0x00007fd26b3b8000)
    libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007fd26b17a000)
    libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007fd26af6f000)
    libXinerama.so.1 => /usr/lib/x86_64-linux-gnu/libXinerama.so.1 (0x00007fd26ad6c000)
    libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007fd26ab5c000)
    libXrandr.so.2 => /usr/lib/x86_64-linux-gnu/libXrandr.so.2 (0x00007fd26a951000)
    libXcursor.so.1 => /usr/lib/x86_64-linux-gnu/libXcursor.so.1 (0x00007fd26a746000)
    libXcomposite.so.1 => /usr/lib/x86_64-linux-gnu/libXcomposite.so.1 (0x00007fd26a543000)
    libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007fd26a340000)
    libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007fd26a12d000)
    libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007fd269f25000)
    libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007fd269cb6000)
    libraw1394.so.11 => /lib/libraw1394.so.11 (0x00007fd269aa6000)
    libusb-1.0.so.0 => /lib/libusb-1.0.so.0 (0x00007fd26988e000)
    libswresample-ffmpeg.so.1 => /usr/lib/x86_64-linux-gnu/libswresample-ffmpeg.so.1 (0x00007fd269671000)
    libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007fd269459000)
    libzvbi.so.0 => /usr/lib/x86_64-linux-gnu/libzvbi.so.0 (0x00007fd2691cd000)
    libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007fd268eb8000)
    libx265.so.59 => /usr/lib/x86_64-linux-gnu/libx265.so.59 (0x00007fd2689f6000)
    libx264.so.146 => /usr/lib/x86_64-linux-gnu/libx264.so.146 (0x00007fd268652000)
    libwebp.so.5 => /usr/lib/x86_64-linux-gnu/libwebp.so.5 (0x00007fd2683f4000)
    libwavpack.so.1 => /usr/lib/x86_64-linux-gnu/libwavpack.so.1 (0x00007fd2681cb000)
    libvpx.so.2 => /usr/lib/x86_64-linux-gnu/libvpx.so.2 (0x00007fd267dc8000)
    libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007fd267b14000)
    libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007fd2678e8000)
    libtwolame.so.0 => /usr/lib/x86_64-linux-gnu/libtwolame.so.0 (0x00007fd2676c5000)
    libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007fd267485000)
    libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007fd26726b000)
    libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007fd267052000)
    libshine.so.3 => /usr/lib/x86_64-linux-gnu/libshine.so.3 (0x00007fd266e44000)
    libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007fd266b6f000)
    libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007fd266925000)
    libopenjpeg.so.5 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.5 (0x00007fd266701000)
    libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007fd26648a000)
    libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007fd26627c000)
    libcrystalhd.so.3 => /usr/lib/x86_64-linux-gnu/libcrystalhd.so.3 (0x00007fd266060000)
    libssh-gcrypt.so.4 => /usr/lib/x86_64-linux-gnu/libssh-gcrypt.so.4 (0x00007fd265e17000)
    librtmp.so.1 => /usr/lib/x86_64-linux-gnu/librtmp.so.1 (0x00007fd265bf9000)
    libmodplug.so.1 => /usr/lib/x86_64-linux-gnu/libmodplug.so.1 (0x00007fd26586e000)
    libgme.so.0 => /usr/lib/x86_64-linux-gnu/libgme.so.0 (0x00007fd265622000)
    libbluray.so.1 => /usr/lib/x86_64-linux-gnu/libbluray.so.1 (0x00007fd2653d9000)
    libgnutls-deb0.so.28 => /usr/lib/x86_64-linux-gnu/libgnutls-deb0.so.28 (0x00007fd2650bd000)
    libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007fd264ead000)
    libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007fd264c06000)
    libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007fd2649e5000)
    libpixman-1.so.0 => /usr/lib/x86_64-linux-gnu/libpixman-1.so.0 (0x00007fd264737000)
    libxcb-shm.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-shm.so.0 (0x00007fd264533000)
    libxcb-render.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-render.so.0 (0x00007fd264329000)
    libselinux.so.1 => /lib/x86_64-linux-gnu/libselinux.so.1 (0x00007fd264104000)
    libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007fd263ee9000)
    libharfbuzz.so.0 => /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007fd263c8b000)
    libthai.so.0 => /usr/lib/x86_64-linux-gnu/libthai.so.0 (0x00007fd263a81000)
    libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007fd263858000)
    libsoxr.so.0 => /usr/lib/x86_64-linux-gnu/libsoxr.so.0 (0x00007fd263613000)
    libnuma.so.1 => /usr/lib/x86_64-linux-gnu/libnuma.so.1 (0x00007fd263408000)
    libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007fd2631fe000)
    liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007fd262f78000)
    libgcrypt.so.20 => /lib/x86_64-linux-gnu/libgcrypt.so.20 (0x00007fd262c95000)
    libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007fd262a4b000)
    libhogweed.so.4 => /usr/lib/x86_64-linux-gnu/libhogweed.so.4 (0x00007fd262818000)
    libnettle.so.6 => /usr/lib/x86_64-linux-gnu/libnettle.so.6 (0x00007fd2625e1000)
    libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x00007fd262361000)
    libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007fd261fa9000)
    libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007fd261d43000)
    libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007fd261b30000)
    libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007fd26192b000)
    libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007fd261725000)
    libgraphite2.so.3 => /usr/lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007fd2614ff000)
    libdatrie.so.1 => /usr/lib/x86_64-linux-gnu/libdatrie.so.1 (0x00007fd2612f8000)
    libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007fd2610d6000)
    libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007fd260ec2000)
    libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007fd260bf0000)
    libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007fd2609c1000)
    libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007fd2607bc000)
    libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007fd2605b1000)
    libicuuc.so.55 => /usr/lib/x86_64-linux-gnu/libicuuc.so.55 (0x00007fd26021d000)
    libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007fd260018000)
    libicudata.so.55 => /usr/lib/x86_64-linux-gnu/libicudata.so.55 (0x00007fd25e561000)
undefined symbol: _ZN2cv9ExceptionC1EiRKSsS2_S2_i   (/usr/local/zed/lib/libsl_calibration.so)
undefined symbol: _ZN2cv7imwriteERKSsRKNS_11_InputArrayERKSt6vectorIiSaIiEE (./libsl_zed.so)
undefined symbol: _ZN2cv6imshowERKSsRKNS_11_InputArrayE (./libsl_zed.so)
undefined symbol: _ZN2cv11namedWindowERKSsi (./libsl_zed.so)

If you check, the imwrite, namedWindow methods were also undefined on the previous output. Are you sure the OpenCV version you are using is 2.4.9?

eduardohenriquearnold commented 8 years ago

I am trying to find the cause of these undefined symbols. As you can see from the output below, the imshow method is undefined in libsl_zed.so, and it is present in libopencv_highgui.so. However, the prototype seems different, which I think is the cause of these issues. Maybe it is related to the use of C++11? Anyway, I have removed the C++11 flag when compiling and still get the same errors.

eduardo@PC:/usr/local/zed/lib$ nm --demangle libopencv_highgui.so.2.4 | grep imshow
00000000000578c0 T cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)
eduardo@PC:/usr/local/zed/lib$ nm --demangle libsl_zed.so | grep imshow                 
U cv::imshow(std::string const&, cv::_InputArray const&)
eduardohenriquearnold commented 8 years ago

Turns out the version of OpenCV I was using in the previous posts was 2.4.12. I have now compiled 2.4.9, which seems to have fixed that prototype error seen in https://github.com/stereolabs/zed-opencv/issues/8#issuecomment-219815408.

I have placed the core, imgproc, calib3d and video libs inside ZED libs folder. When I use ldd -r libsl_zed.so, all shared libraries and symbols are found. However, when I try the same with libsl_calibration.so, it does not find any of the opencv libraries, as seen here:

eduardo@PC:/usr/local/zed/lib$ ldd libsl_zed.so | grep opencv
    libopencv_core.so.2.4 => /usr/local/zed/lib/libopencv_core.so.2.4 (0x00007f5917fa5000)
    libopencv_highgui.so.2.4 => /usr/local/zed/lib/libopencv_highgui.so.2.4 (0x00007f5917c4c000)
    libopencv_imgproc.so.2.4 => /usr/local/zed/lib/libopencv_imgproc.so.2.4 (0x00007f591773b000)
    libopencv_calib3d.so.2.4 => /usr/local/zed/lib/libopencv_calib3d.so.2.4 (0x00007f591749d000)
    libopencv_video.so.2.4 => /usr/local/zed/lib/libopencv_video.so.2.4 (0x00007f591145b000)
    libopencv_features2d.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.9/build/lib/libopencv_features2d.so.2.4 (0x00007f5903016000)
    libopencv_flann.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.9/build/lib/libopencv_flann.so.2.4 (0x00007f5902d9c000)
eduardo@PC:/usr/local/zed/lib$ ldd libsl_calibration.so | grep opencv
    libopencv_video.so.2.4 => not found
    libopencv_imgproc.so.2.4 => not found
    libopencv_core.so.2.4 => not found
    libopencv_calib3d.so.2.4 => not found

What could be causing this issue? Both files are in the same folder as all the shared libs.

eduardohenriquearnold commented 8 years ago

I was finally able to compile my application with both OpenCV library versions 3.1 and 2.4.9. Check the library dependencies here:

eduardo@PC:~/Documents/RecordRGBD$ ldd record | grep open
    libopencv_highgui.so.3.1 => /usr/local/lib/libopencv_highgui.so.3.1 (0x00007fdae2d57000)
    libopencv_core.so.3.1 => /usr/local/lib/libopencv_core.so.3.1 (0x00007fdae2024000)
    libopencv_imgcodecs.so.3.1 => /usr/local/lib/libopencv_imgcodecs.so.3.1 (0x00007fdadec6f000)
    libopencv_imgproc.so.3.1 => /usr/local/lib/libopencv_imgproc.so.3.1 (0x00007fdadd221000)
    libopencv_core.so.2.4 => /usr/local/zed/lib/libopencv_core.so.2.4 (0x00007fdadb685000)
    libopencv_highgui.so.2.4 => /usr/local/zed/lib/libopencv_highgui.so.2.4 (0x00007fdadb32c000)
    libopencv_imgproc.so.2.4 => /usr/local/zed/lib/libopencv_imgproc.so.2.4 (0x00007fdadae1c000)
    libopencv_calib3d.so.2.4 => /usr/local/zed/lib/libopencv_calib3d.so.2.4 (0x00007fdadab7d000)
    libopencv_video.so.2.4 => /usr/local/zed/lib/libopencv_video.so.2.4 (0x00007fdad1ec6000)
    libopencv_features2d.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.9/build/lib/libopencv_features2d.so.2.4 (0x00007fdac63fc000)
    libopencv_flann.so.2.4 => /home/eduardo/Documents/ZED/opencv-2.4.9/build/lib/libopencv_flann.so.2.4 (0x00007fdac6182000)
    libopenjpeg.so.5 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.5 (0x00007fdac18c0000)

However, when running the code I get a Segmentation fault:

eduardo@PC:~/Documents/RecordRGBD$ ./record 5000
ZED SDK >> (Init) Best GPU Found : NVS 510 , ID : 0
ZED SDK >> (Init) Disparity mode has been set to Performance mode
ZED SDK >> (Init) Creating ZED GPU mem...
Segmentation fault (core dumped)

I have tried using only OpenCV 2.4.9 to build it and all works fine. So the segfault probably happens due to symbol conflict between versions of OpenCV. Following this guide, there seems to be a solution to multiple versions of the same library linking. It requires that a StereoLabs developer, @adujardin, rebuild the sl_zed with specific linker flags (soname and default-symver).

Since many users need newer versions of OpenCV for their applications, would you be kind to check this issue and provide a solution?

Regards

mpperez commented 8 years ago

Hi, I have the same problem with OpenCV 2.4.9/ 2.4.13 and zed 0.94 with zed-opencv-master:

make -j8 [ 50%] Linking CXX executable "ZED with OpenCV" CMakeFiles/ZED_with_OpenCV.dir/src/main.o: En la funciónmain': /zed-opencv-master/src/main.cpp:110: referencia a sl::zed::Camera::Camera(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' sin definir /usr/local/zed/lib/libsl_zed.so: referencia acv::imwrite(std::string const&, cv::_InputArray const&, std::vector<int, std::allocator > const&)' sin definir /usr/local/zed/lib/libsl_zed.so: referencia a cv::imshow(std::string const&, cv::_InputArray const&)' sin definir /usr/local/zed/lib/libsl_zed.so: referencia acv::namedWindow(std::string const&, int)' sin definir /usr/local/zed/lib/libsl_calibration.so: referencia a cv::Exception::Exception(int, std::string const&, std::string const&, std::string const&, int)' sin definir collect2: error: ld returned 1 exit status CMakeFiles/ZED_with_OpenCV.dir/build.make:106: fallo en las instrucciones para el objetivo 'ZED with OpenCV' make[2]: *** [ZED with OpenCV] Error 1 CMakeFiles/Makefile2:67: fallo en las instrucciones para el objetivo 'CMakeFiles/ZED_with_OpenCV.dir/all' make[1]: *** [CMakeFiles/ZED_with_OpenCV.dir/all] Error 2 Makefile:83: fallo en las instrucciones para el objetivo 'all' make: *** [all] Error 2

All the applications from /usr/local/zed/tools work perfect but I can't compile anything. Would add support to OpenCV3.xx soon?

Regards

eduardohenriquearnold commented 8 years ago

These errors seemed to be cause by using a different compiler version to compile OpenCV and the ZED application. In my case I used g++-4.9 to compile OpenCV since the 5.0 is not compatible with CUDA 7.5. Anyway, try compiling your application with the same version of G++ you used to compile OpenCV.

It would be great to be able to use ZED with OpenCV 3.x. Hope the devs are working on it.

adujardin commented 8 years ago

Hi, The last version of the ZED SDK should solve the issue since it's now using OpenCV 3.1.

udayakumar97 commented 7 years ago

Hi, I am still getting the error "Segementation Fault" when trying to use opencv 3.1 with jetson tx1..Is there a solution for it?

obraun-sl commented 7 years ago

On TX1, please use the OpenCV Version provided by NVIDIA : OpenCV4Tegra. It is based on 2.4.13 Best, OB

YousefYaghoobi commented 7 years ago

Hi sl-braun,

I need to use OpenCV-3.1.0 because of tracking module which is only available on 3.x version on Jetson TX1. Any help is highly appreciated. Best regards,

mepix commented 7 years ago

Hi,

Is there an update or a workaround for this issue? I, too, am using OpenCV-3.1.0 on the Jetson TX1 for modules not included in the OpenCV4Tegra package.

Thanks,

GPrathap commented 6 years ago

Hi , I am having the same problem here... instated of OpenCV4Tegra is there any workaround for OpenCV 3.1.x for TX2