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LSD-SLAM
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[SOLVED] Compilation failure - ununderstandable - Ubuntu 14.04 + ROS Indigo #237

Open pierre-alexandre-masset opened 7 years ago

pierre-alexandre-masset commented 7 years ago

[SEE COMMENT BELOW FOR SOLUTION]

Hi everybody,

I am currently working on a SLAM integration on ROS for a school project, and I found lsd_slam to be convenient and perfectly doing what I want.

I have been struggling for days now to compile lsd_slam, and each time a new kind of error comes up. I am depressed and I need help.

I have tried the "official" way not using catkin_make, but it failed. I have found this tutorial http://visbot.blogspot.fr/2014/11/tutorial-building-of-lsd-slam-on-ros.html to be very helpful to use catkin and made everything as said. When I type catkin_make I first got an error saying CMake could not find Eigen, but the fixes proposed on the page worked.

So I did everything, including bug fixing proposed but now I have really weird compilation errors :

(See my CMakeLists.txt and package.xml files attached LIST-XML.zip

THANK YOU Anyone with any idea... I am just going crazy and dreaming of fixing this issue literally ! ahah

masset@masset-G75VX:~/lsd_ws$ catkin_make Base path: /home/masset/lsd_ws Source space: /home/masset/lsd_ws/src Build space: /home/masset/lsd_ws/build Devel space: /home/masset/lsd_ws/devel Install space: /home/masset/lsd_ws/install

Running command: "make cmake_check_build_system" in "/home/masset/lsd_ws/build"

Running command: "make -j8 -l8" in "/home/masset/lsd_ws/build"

[ 2%] Built target lsd_slam_viewer_gencfg [ 7%] Built target lsd_slam_core_gencfg [ 9%] Building CXX object lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/KeyFrameDisplay.o [ 9%] [ 9%] Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeGraphMsg Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeMsg [ 26%] [ 24%] [ 26%] Built target lsd_slam_viewer_generate_messages_lisp Built target lsd_slam_viewer_generate_messages_cpp Built target lsd_slam_viewer_generate_messages_py [ 26%] Built target lsd_slam_viewer_generate_messages [ 85%] Built target lsdslam Linking CXX executable /home/masset/lsd_ws/devel/lib/lsd_slam_core/live_slam Linking CXX executable /home/masset/lsd_ws/devel/lib/lsd_slam_core/dataset /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator > const&) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::line(cv::InputOutputArray const&, cv::Point, cv::Point, cv::Scalar const&, int, int, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::String::allocate(unsigned long) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::String::deallocate() » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::putText(cv::InputOutputArray const&, cv::String const&, cv::Point, int, double, cv::Scalar_, int, int, bool) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::error(int, cv::String const&, char const, char const, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::namedWindow(cv::String const&, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::resizeWindow(cv::String const&, int, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::imshow(cv::String const&, cv::_InputArray const&) » collect2: error: ld returned 1 exit status make[2]: [/home/masset/lsd_ws/devel/lib/lsd_slam_core/live_slam] Erreur 1 make[1]: [lsd_slam/lsd_slam_core/CMakeFiles/live_slam.dir/all] Erreur 2 make[1]: * Attente des tâches non terminées.... CMakeFiles/dataset.dir/src/main_on_images.cpp.o : Dans la fonction « cvflann::anyimpl::big_any_policy::static_delete(void) » : main_on_images.cpp:(.text._ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv[_ZN7cvflann7anyimpl14big_any_policyIN2cv6StringEE13static_deleteEPPv]+0x15) : référence indéfinie vers « cv::String::deallocate() » CMakeFiles/dataset.dir/src/main_on_images.cpp.o : Dans la fonction « cvflann::anyimpl::big_any_policy::move(void const, void) » : main_on_images.cpp:(.text._ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5[_ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5]+0x10) : référence indéfinie vers « cv::String::deallocate() » main_on_images.cpp:(.text._ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5[_ZN7cvflann7anyimpl14big_anypolicyIN2cv6StringEE4moveEPKPvPS5]+0x24) : référence indéfinie vers « cv::String::deallocate() » CMakeFiles/dataset.dir/src/main_on_images.cpp.o : Dans la fonction « main » : main_on_images.cpp:(.text.startup+0x987) : référence indéfinie vers « cv::imread(cv::String const&, int) » main_on_images.cpp:(.text.startup+0x994) : référence indéfinie vers « cv::String::deallocate() » main_on_images.cpp:(.text.startup+0x9fc) : référence indéfinie vers « cv::String::allocate(unsigned long) » main_on_images.cpp:(.text.startup+0xfd3) : référence indéfinie vers « cv::String::deallocate() » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator > const&) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::line(cv::InputOutputArray const&, cv::Point, cv::Point, cv::Scalar const&, int, int, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::putText(cv::InputOutputArray const&, cv::String const&, cv::Point, int, double, cv::Scalar_, int, int, bool) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::error(int, cv::String const&, char const, char const, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::namedWindow(cv::String const&, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::resizeWindow(cv::String const&, int, int) » /home/masset/lsd_ws/devel/lib/liblsdslam.so : référence indéfinie vers « cv::imshow(cv::String const&, cv::_InputArray const&) » collect2: error: ld returned 1 exit status make[2]: * [/home/masset/lsd_ws/devel/lib/lsd_slam_core/dataset] Erreur 1 make[1]: *** [lsd_slam/lsd_slam_core/CMakeFiles/dataset.dir/all] Erreur 2 In file included from /usr/local/include/opencv2/opencv.hpp:86:0, from /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:31: /usr/local/include/opencv2/stitching.hpp:58:4: warning: #warning Detected X11 'Status' macro definition, it can cause build conflicts. Please, include this header before any X11 headers. [-Wcpp]

warning Detected X11 'Status' macro definition, it can cause build conflicts. Please, include this header before any X11 headers.

^

In file included from /usr/include/GL/glx.h:30:0, from /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:27: /usr/local/include/opencv2/stitching.hpp:128:10: error: expected identifier before ‘int’ enum Status ^ In file included from /usr/local/include/opencv2/opencv.hpp:86:0, from /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:31: /usr/local/include/opencv2/stitching.hpp:129:5: error: expected unqualified-id before ‘{’ token { ^ /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp: In member function ‘void KeyFrameDisplay::setFrom(lsd_slam_viewer::keyframeMsgConstPtr)’: /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:94:106: warning: format ‘%u’ expects argument of type ‘unsigned int’, but argument 3 has type ‘long unsigned int’ [-Wformat=] msg->pointcloud.size(), sizeof(InputPointDense), width, height, widthheightsizeof(InputPointDense)); ^ /home/masset/lsd_ws/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:94:106: warning: format ‘%u’ expects argument of type ‘unsigned int’, but argument 6 has type ‘long unsigned int’ [-Wformat=] make[2]: [lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/src/KeyFrameDisplay.o] Erreur 1 make[1]: [lsd_slam/lsd_slam_viewer/CMakeFiles/viewer.dir/all] Erreur 2 make: *** [all] Erreur 2 Invoking "make -j8 -l8" failed

pierre-alexandre-masset commented 7 years ago

## SOLUTION

I had two versions of opencv on my computer, and there were probably conflicts. I tried to uninstall them manually, but nothing seemed to work. Some files remained in usr/include and usr/local/include. I had opencv and opencv2 in both directories. I changed manually the name of opencv to opencvqwe and let opencv2 unmodified. In issue #163 you will find the dirty trick of vadimostanin which worked for me (but I kept opencv2 and modified opencv because I had no opencv3 directory on my computer).

FirefoxMetzger commented 7 years ago

I think I found the root of all evil. Essentially a naming conflict between openCV (Status defined in stitching.hpp) and xlib macro Status (defines stitching as well) It is further elaborated in: this openCV Issue

As of yet I am not sure how to fix this permanently, asside from updating openCV to the latest version (which would then have to be integrated into ROS).

Edit: As a quick and dirty fix comment 

//#include "opencv2/opencv.hpp"

in lsd_slam_viewer/src/KeyFrameDisplay.cpp:31 it gets included from some other file already, thus rosmake knows about OpenCV already (as it does with xlib, which is what causes this in the first place)

Ankita-Singh-21 commented 3 years ago

I think I found the root of all evil. Essentially a naming conflict between openCV (Status defined in stitching.hpp) and xlib macro Status (defines stitching as well) It is further elaborated in: this openCV Issue

As of yet I am not sure how to fix this permanently, asside from updating openCV to the latest version (which would then have to be integrated into ROS).

Edit: As a quick and dirty fix comment

//#include "opencv2/opencv.hpp"

in lsd_slam_viewer/src/KeyFrameDisplay.cpp:31 it gets included from some other file already, thus rosmake knows about OpenCV already (as it does with xlib, which is what causes this in the first place)

Thanks a lot, it works