libdvo_visualization.so undefined reference to pcl::visualization::PCLVisualizer::createActorFromVTKDataSet

[lynncodd]

Ubuntu 12.04 LTS ROS Groovy PCL 1.7

I've been able to resolve many of the errors received after running "rosmake dvo_core dvo_ros dvo_slam dvo_benchmark"; however, I cannot seem to resolved this undefined reference.

..... ..... ..... [rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-1] Finished <<< dvo_core [PASS] [ 3.09 seconds ]
[rosmake-1] Starting >>> dvo_ros [ make ]
[ rosmake ] Last 40 lineso_ros: 5.3 sec ] [ 1 Active 63/64 Complete ] {------------------------------------------------------------------------------- cd build && make -j4 -l4 make[1]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[2]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] Generating ../cfg/cpp/dvo_ros/dvoConfig.h, ../docs/dvoConfig.dox, ../docs/dvoConfig-usage.dox, ../src/dvo_ros/cfg/dvoConfig.py, ../docs/dvoConfig.wikidoc make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] Built target ROSBUILD_gencfg_cpp make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] Built target rospack_gencfg make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] [ 16%] Built target rospack_gencfg_real Built target rospack_genmsg_libexe make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] Built target rosbuild_precompile make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 66%] Built target dvo_ros make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 83%] Linking CXX executable ../bin/camera_tracker Built target camera_tracker_nodelet /home/rpslaptop32/ros_workspace/dvo_slam/dvo_core/lib/libdvo_visualization.so: undefined reference topcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer const&, vtkSmartPointer&, bool)' collect2: ld returned 1 exit status make[3]: * [../bin/camera_tracker] Error 1 make[3]: Leaving directory `/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[2]: * [CMakeFiles/camera_tracker.dir/all] Error 2 make[2]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package dvo_ros written to: [ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131014-143950/dvo_ros/build_output.log
[rosmake-1] Finished <<< dvo_ros [FAIL] [ 5.34 seconds ]
[ rosmake ] Halting due to failure in package dvo_ros. [ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 64 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131014-143950

Any help would be much appreciated. I've updated all of the CMakeLists.txt to have

find_package(PCL 1.7 REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS})

and added ${PCL_LIBRARIES} to the TARGET_LINK_LIBRARIES.

Thanks in advance! Lynn

[christiankerl]

That's strange. The method is never directly called so some pclvisualizer methods seems to use it internally. As a workaround you can remove src/visualization/pcl_camera_trajetory_visualizer.cpp from the CMakeLists.txt for now as it not used currently.

[lynncodd]

Thank you for your prompt response. That workaround helped me continue past that error. :-)

[lynncodd]

Looks like in the compilation of dvo_benchmark benchmark_slam.cpp and benchmark.cpp both include pcl_camera_trajectory_visualizer.h so with the above workaround, I'm getting any error:

.... .... /home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/src/benchmark_slam.cpp:412:62: warning: ‘graph_visualizer’ may be used uninitialized in this function [-Wuninitialized] /home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/include/dvo_benchmark/tools.h: At global scope: /home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/include/dvo_benchmark/tools.h:34:13: warning: ‘void dvo_benchmark::toPoseTf(const dvo_benchmark::Groundtruth&, tf::Pose&)’ defined but not used [-Wunused-function] /home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/include/dvo_benchmark/tools.h:40:13: warning: ‘void dvo_benchmark::toPoseMsg(const dvo_benchmark::Groundtruth&, geometry_msgs::Pose&)’ defined but not used [-Wunused-function] Linking CXX executable ../bin/benchmark CMakeFiles/benchmark.dir/src/benchmark_slam.cpp.o: In function BenchmarkNode::processInput(dvo::visualization::CameraTrajectoryVisualizerInterface*)': benchmark_slam.cpp:(.text+0x3d2a): undefined reference todvo::visualization::PclCameraTrajectoryVisualizer::visualizer()' benchmark_slam.cpp:(.text+0x445c): undefined reference to dvo::visualization::PclCameraTrajectoryVisualizer::visualizer()' benchmark_slam.cpp:(.text+0x4486): undefined reference todvo::visualization::PclCameraTrajectoryVisualizer::visualizer()' collect2: ld returned 1 exit status make[3]: * [../bin/benchmark] Error 1 make[3]: Leaving directory `/home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/build' make[2]: * [CMakeFiles/benchmark.dir/all] Error 2 make[2]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_benchmark/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package dvo_benchmark written to: [ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131015-122809/dvo_benchmark/build_output.log
[rosmake-2] Finished <<< dvo_benchmark [FAIL] [ 23.99 seconds ]
[ rosmake ] Halting due to failure in package dvo_benchmark. [ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Cleaned 67 packages.
[ rosmake ] Built 67 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131015-122809

Let me know how you'd like me to handle.

Regards, Lynn

[christiankerl]

commenting the lines involving the pclcameravisualizer should resolve this problem as well

[lynncodd]

Great! I figured that is what you'd probably have me do, but I wasn't sure how important they are to dvo_benchmark. I commented them out and all packages compiled without failure! Thanks!

[ltl315]

where can I find the PoseStampedArray.h?

when I rosmake dvo_benchmark, I got the following errors:

/home/leon/ros/dvo_slam/dvo_slam/include/dvo_slam/serialization/map_serializer.h:27:82: fatal error: dvo_slam/PoseStampedArray.h: No such file or directory

include <dvo_slam/PoseStampedArray.h>

                                                                                ^

compilation terminated. make[3]: * [CMakeFiles/benchmark.dir/src/benchmark_slam.o] Error 1 make[3]: Leaving directory `/home/leon/ros/dvo_slam/dvo_benchmark/build' make[2]: * [CMakeFiles/benchmark.dir/all] Error 2 make[2]: Leaving directory/home/leon/ros/dvo_slam/dvo_benchmark/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/leon/ros/dvo_slam/dvo_benchmark/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package dvo_benchmark written to: [ rosmake ] /home/leon/.ros/rosmake/rosmake_output-20140410-183907/dvo_benchmark/build_output.log
[rosmake-7] Finished <<< dvo_benchmark [FAIL] [ 6.58 seconds ]
[ rosmake ] Halting due to failure in package dvo_benchmark. [ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 43 packages with 1 failures.
[ rosmake ] Summary output to directory

Thanks a lot in advance.