compile error k4a-calibration undefined reference open3d & opencv

Step

git clone https://github.com/stytim/k4a-calibration.git
cd k4a-calibration
mkdir build && cd build
cmake ..
make

After make, it shows error that camera_extrinsics.cpp is undefined reference

CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `ExtrinsicsCalibration::CalculateExtrinsics(std::vector<FrameInfo, std::allocator<FrameInfo> > const&, std::vector<AlignmentTransform, std::allocator<AlignmentTransform> >&)':
camera_extrinsics.cpp:(.text+0x2b30): undefined reference to `open3d::io::WritePointCloudToPLY(std::string const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
camera_extrinsics.cpp:(.text+0x33e3): undefined reference to `open3d::io::WritePointCloudToPLY(std::string const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::MatConstIterator::MatConstIterator(cv::Mat const*)':
camera_extrinsics.cpp:(.text._ZN2cv16MatConstIteratorC2EPKNS_3MatE[_ZN2cv16MatConstIteratorC5EPKNS_3MatE]+0xf3): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::Mat_<float>::operator=(cv::Mat const&)':
camera_extrinsics.cpp:(.text._ZN2cv4Mat_IfEaSERKNS_3MatE[_ZN2cv4Mat_IfEaSERKNS_3MatE]+0x189): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'
collect2: error: ld returned 1 exit status
CMakeFiles/calib_k4a.dir/build.make:191: recipe for target 'calib_k4a' failed
make[2]: *** [calib_k4a] Error 1
CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/calib_k4a.dir/all' failed
make[1]: *** [CMakeFiles/calib_k4a.dir/all] Error 2
Makefile:90: recipe for target 'all' failed
make: *** [all] Error 2

I'm getting the same errors while trying to build under Ubunutu 18.04. I'm using the latest Version of Open3D (0.15). @stytim Could you specify which Open3D version you used ?

So I saw your response in the other post and downgraded Open3D to version 0.12. This solved some errors, but there are still some remaining

CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::MatConstIterator::MatConstIterator(cv::Mat const*)':
camera_extrinsics.cpp:(.text._ZN2cv16MatConstIteratorC2EPKNS_3MatE[_ZN2cv16MatConstIteratorC5EPKNS_3MatE]+0xf3): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'
CMakeFiles/calib_k4a.dir/src/camera_extrinsics.cpp.o: In function `cv::Mat_<float>::operator=(cv::Mat const&)':
camera_extrinsics.cpp:(.text._ZN2cv4Mat_IfEaSERKNS_3MatE[_ZN2cv4Mat_IfEaSERKNS_3MatE]+0x189): undefined reference to `cv::error(int, std::string const&, char const*, char const*, int)'

@stytim Could you specify which OpenCV version you used ?

This error has nothing to do with the version of Open3D, it is a problem with the version of OpenCV used. I tried to run OpenCV4 with Open3D and got the same error, presumably because of a conflict between the two libraries. I am using OpenCV version 3.4.16 (almost the latest) and Open3D version 0.16.1. It works successfully.

Solution

Downgrade Opencv4 to 3.