depth_image_proc: libpcl_surface.so, libopencv_contrib linking errors about image_pipeline

[vrabaud]

Did you compile PCL and OpenCV by hand ? What is your OS/distro ?
image_pipeline for Indigo does not link to PCL anymore if that can help you.

[wyc]

I'm using the opencv2 compiled by ROS but a Gentoo-compiled PCL-1.7.1 . I can confirm that Indigo compiles just fine, but I think getting depth_image_proc to compile is the last stepping stone to desktop-full hydro support on Gentoo (I'm in the process of packaging ROS for Gentoo Linux).

[vrabaud]

can you please post what you get with a make VERBOSE=1. I suspect you have a funky include or lib folder that makes you use two different versions of Eigen.

[wyc]

build_isolated/depth_image_proc $ make VERBOSE=1
/usr/bin/cmake -H/home/wayne/work/ros/ros_hydro_ws/src/image_pipeline/depth_image_proc -B/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc/CMakeFiles /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
make -f CMakeFiles/depth_image_proc.dir/build.make CMakeFiles/depth_image_proc.dir/depend
make[2]: Entering directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
cd /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/wayne/work/ros/ros_hydro_ws/src/image_pipeline/depth_image_proc /home/wayne/work/ros/ros_hydro_ws/src/image_pipeline/depth_image_proc /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc /home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc/CMakeFiles/depth_image_proc.dir/DependInfo.cmake --color=
make[2]: Leaving directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
make -f CMakeFiles/depth_image_proc.dir/build.make CMakeFiles/depth_image_proc.dir/build
make[2]: Entering directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
Linking CXX shared library /home/wayne/work/ros/ros_hydro_ws/devel_isolated/depth_image_proc/lib/libdepth_image_proc.so
/usr/bin/cmake -E cmake_link_script CMakeFiles/depth_image_proc.dir/link.txt --verbose=1
/usr/bin/c++  -fPIC   -Wno-deprecated -O3 -DNDEBUG    -shared -Wl,-soname,libdepth_image_proc.so -o /home/wayne/work/ros/ros_hydro_ws/devel_isolated/depth_image_proc/lib/libdepth_image_proc.so CMakeFiles/depth_image_proc.dir/src/nodelets/convert_metric.cpp.o CMakeFiles/depth_image_proc.dir/src/nodelets/disparity.cpp.o CMakeFiles/depth_image_proc.dir/src/nodelets/point_cloud_xyz.cpp.o CMakeFiles/depth_image_proc.dir/src/nodelets/point_cloud_xyzrgb.cpp.o CMakeFiles/depth_image_proc.dir/src/nodelets/register.cpp.o /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libcv_bridge.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libimage_geometry.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_calib3d.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_contrib.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_core.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_features2d.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_flann.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_gpu.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_highgui.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_imgproc.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_legacy.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_ml.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_nonfree.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_objdetect.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_photo.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_stitching.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_superres.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_video.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_videostab.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libimage_transport.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libpcl_ros_filters.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libpcl_ros_io.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libpcl_ros_tf.so -lpcl_common -lpcl_octree -lpcl_io -lpcl_kdtree -lpcl_search -lpcl_surface -lpcl_sample_consensus -lpcl_filters -lpcl_tracking -lpcl_features -lpcl_segmentation -lpcl_visualization -lpcl_registration -lpcl_keypoints -lpcl_recognition -lpcl_outofcore -lpcl_people -lboost_iostreams-mt -lboost_serialization-mt -lqhull -lflann_cpp -lvtkCommon -lvtkRendering -lvtkHybrid -lvtkCharts /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libdynamic_reconfigure_config_init_mutex.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libnodeletlib.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libbondcpp.so -luuid -ltinyxml /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libclass_loader.so -lPocoFoundation -ldl /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libroslib.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librosbag.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librosbag_storage.so -lboost_program_options-mt /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libtopic_tools.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libtf.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libtf2_ros.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libactionlib.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libmessage_filters.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libroscpp.so -lpthread -lboost_signals-mt -lboost_filesystem-mt /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libxmlrpcpp.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libtf2.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libroscpp_serialization.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librosconsole.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librosconsole_log4cxx.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librosconsole_backend_interface.so -llog4cxx -lboost_regex-mt /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/librostime.so -lboost_date_time-mt -lboost_system-mt -lboost_thread-mt /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libcpp_common.so /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libconsole_bridge.so -Wl,-rpath,/home/wayne/work/ros/ros_hydro_ws/install_isolated/lib: 
/usr/lib/gcc/x86_64-pc-linux-gnu/4.7.3/../../../../x86_64-pc-linux-gnu/bin/ld: _ZZN5Eigen8internal20manage_caching_sizesENS_6ActionEPlS2_E13m_l2CacheSize: TLS definition in /usr/lib/gcc/x86_64-pc-linux-gnu/4.7.3/../../../../lib64/libpcl_surface.so section .tbss mismatches non-TLS definition in /home/wayne/work/ros/ros_hydro_ws/install_isolated/lib/libopencv_contrib.so section .bss
/usr/lib/gcc/x86_64-pc-linux-gnu/4.7.3/../../../../lib64/libpcl_surface.so: could not read symbols: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [/home/wayne/work/ros/ros_hydro_ws/devel_isolated/depth_image_proc/lib/libdepth_image_proc.so] Error 1
make[2]: Leaving directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
make[1]: *** [CMakeFiles/depth_image_proc.dir/all] Error 2
make[1]: Leaving directory `/home/wayne/work/ros/ros_hydro_ws/build_isolated/depth_image_proc'
make: *** [all] Error 2

[vrabaud]

hmmm, I cannot tell from that sorry. Is there any way you can check if you have several versions of eigen locally ? Thx. Another solution will be to remove the eigen flag from the ROS OpenCV package.

[vrabaud]

do you have your own compile flags ? can you please try with -DWITH_EIGEN=OFF for OpenCV ? Thx.

[wyc]

I used the opencv2 from the rosinstall, so I'll change the flags in the CMakeLists.txt and report back. Thanks

[vrabaud]

did you make any progress on that ? Should I push a new OpenCV without those flags ?

[vrabaud]

ping ?

[vrabaud]

I pushed a new OpenCV disabling Eigen so this bug should not happen anymore