lab 6 does not working

[votmA]

Hello! I am trying to launch lab 6. And I get an error. I have put the output in the description below. Lab 5 works utilizing the same code. I would appreciate any advice.

*** Aborted at 1707571282 (unix time) try "date -d @1707571282" if you are using GNU date ***
PC: @     0x7f580333be6c std::_Rb_tree<>::find()
*** SIGSEGV (@0x0) received by PID 68409 (TID 0x7f57f70d6840) from PID 0; stack trace: ***
    @     0x7f5806174781 google::(anonymous namespace)::FailureSignalHandler()
    @     0x7f5803a33420 (unknown)
    @     0x7f580333be6c std::_Rb_tree<>::find()
    @     0x7f580334505a cv::flann::Index::build()
    @     0x7f5805ff75e7 cv::FlannBasedMatcher::train()
    @     0x7f5805fed764 cv::DescriptorMatcher::knnMatch()
    @     0x7f5805fef09d cv::DescriptorMatcher::knnMatch()
    @     0x7f580965600a SiftFeatureTracker::matchDescriptors()
    @     0x7f580964c842 FeatureTracker::trackFeatures()
    @     0x5638343f6e80 cameraCallback()
    @     0x563834423d47 boost::_bi::list2<>::operator()<>()
    @     0x56383441fa19 boost::_bi::bind_t<>::operator()<>()
    @     0x56383441b02a boost::detail::function::void_function_obj_invoker9<>::invoke()
    @     0x563834423ed4 boost::function9<>::operator()()
    @     0x56383441fba8 boost::detail::function::void_function_obj_invoker9<>::invoke()
    @     0x563834448d65 boost::function9<>::operator()()
    @     0x563834447cb4 message_filters::CallbackHelper9T<>::call()
    @     0x563834443624 message_filters::Signal9<>::call()
    @     0x56383444150f message_filters::Synchronizer<>::signal()
    @     0x56383443dda4 message_filters::sync_policies::ApproximateTime<>::publishCandidate()
    @     0x563834433e61 message_filters::sync_policies::ApproximateTime<>::process()
    @     0x56383442daf0 message_filters::sync_policies::ApproximateTime<>::add<>()
    @     0x56383442b461 message_filters::Synchronizer<>::cb<>()
    @     0x563834445859 boost::_mfi::mf1<>::operator()()
    @     0x5638344442e0 boost::_bi::list2<>::operator()<>()
    @     0x5638344422cd boost::_bi::bind_t<>::operator()<>()
    @     0x56383443eaa8 boost::detail::function::void_function_obj_invoker1<>::invoke()
    @     0x563834448824 boost::function1<>::operator()()
    @     0x563834447396 message_filters::CallbackHelper1T<>::call()
    @     0x5638344082cb message_filters::Signal1<>::call()
    @     0x563834403d77 message_filters::SimpleFilter<>::signalMessage()
    @     0x5638343fe987 image_transport::SubscriberFilter::cb()

[votmA]

I haven't updated the repo. Issue is already solved

[votmA]

After updating the repo. I got this error

(tracked_features:180113): Gtk-ERROR **: 16:24:07.553: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported

I couldn't resolve this issue. Also, the compiler gives a warning that OpenCV 3 and OpenCV 4 may be in conflict.

[jingnanshi]

@votmA make sure that you are not linking against system opencv

[votmA]

@jingnanshi

I think I am not linking against the system OpenCV at least explicitly. Here my cmake file for lab_6. Actually, I have not changed it from repo.

Also, I have opencv3_catkin in lab-5 in the dependencies folder.

cmake_minimum_required(VERSION 2.8.3)
project(lab_6)

add_compile_options(-std=c++14)

find_package(lab_5 REQUIRED)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  opencv3_catkin
  glog_catkin
  image_transport
  cv_bridge
  opengv
  eigen_catkin
  tf_conversions
)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES
 CATKIN_DEPENDS roscpp rospy glog_catkin image_transport cv_bridge lab_5 opengv eigen_catkin opencv3_catkin
)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

add_library(tracker_shim src/tracker_shim.cpp)
target_include_directories(tracker_shim PRIVATE ${lab_5_INCLUDE_DIRS})
target_link_libraries(tracker_shim PRIVATE ${lab_5_LIBRARIES})

add_executable(pose_estimation src/pose_estimation.cpp)
target_link_libraries(pose_estimation tracker_shim ${catkin_LIBRARIES})

And here is the warning message for OpenCV conflicts.

/usr/bin/ld: warning: libopencv_calib3d.so.4.2, needed by /home/votma/workspace/VNAV-LABS-Ledkov/vnav_ws/devel/.private/lab_6/lib/libtracker_shim.so, may conflict with libopencv_calib3d.so.3.4
/usr/bin/ld: warning: libopencv_highgui.so.4.2, needed by /home/votma/workspace/VNAV-LABS-Ledkov/vnav_ws/devel/.private/lab_6/lib/libtracker_shim.so, may conflict with libopencv_highgui.so.3.4
/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.4

[votmA]

I have analized the build folder with ccmake tool. I found out that cv_bridge links to OpenCV 4. I have resolved the issue by adding the cv_bridge as a package in the dependencies folder. Also, I edited the cv_bridge package and cmake files. I replaced the linkage to OpenCV 4 with opencv3_catkin which is supposed to be present in the project. And then I added links to cv_bridge in the cmake file for lab_6.

Here cv_bridge cmake file CMakeLists.txt

Here lab_6 cmake file CMakeLists.txt

It seems working for me. But if there is another solution I would like to see it as well.

[jingnanshi]

@votmA excellent work! If you can make a PR I'll happy to review it.

[votmA]

@jingnanshi thanks! I have created the PR