rpg_svo_example
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Published
20 hours ago •
uzh-rpg
uzh-rpg
OpenCV in ROS Kinetic compatibility problem
Hi, recently I found SVO example can't be built due to some error as follows: (Ubuntu 16.04, ROS Kinetic)
Scanning dependencies of target svo_ros
[ 11%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 22%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
[ 33%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
[ 55%] Linking CXX shared library /home/bcs/svo_install_overlay_ws/devel/lib/libsvo_ros.so
[ 55%] Built target svo_ros
Scanning dependencies of target svo_nodelet
Scanning dependencies of target svo_node
[ 77%] Building CXX object CMakeFiles/svo_node.dir/src/svo_node.cpp.o
[ 77%] Building CXX object CMakeFiles/svo_nodelet.dir/src/svo_nodelet.cpp.o
[ 88%] Linking CXX executable /home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node
[100%] Linking CXX shared library /home/bcs/svo_install_overlay_ws/devel/lib/libsvo_nodelet.so
/usr/bin/ld: warning: libopencv_core3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_highgui3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgproc3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgcodecs3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libvikit_cameras.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_calib3d3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libvikit_common.so, not found (try using -rpath or -rpath-link)
/home/bcs/svo_install_ws/install/lib/libvikit_common.socv::findHomography(cv::_InputArray const&, cv::_InputArray const&, int, double, cv::_OutputArray const&, int, double)
/home/bcs/svo_install_ws/install/lib/libsvo.socv::waitKey(int)
/home/bcs/svo_install_ws/install/lib/libsvo.socv::imshow(cv::String const&, cv::_InputArray const&)
collect2: error: ld returned 1 exit status
CMakeFiles/svo_node.dir/build.make:583: recipe for target '/home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node' failed
make[2]: *** [/home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node] Error 1
CMakeFiles/Makefile2:159: recipe for target 'CMakeFiles/svo_node.dir/all' failed
make[1]: *** [CMakeFiles/svo_node.dir/all] Error 2
make[1]: *** ....
[100%] Built target svo_nodelet
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/bcs/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'
Failed <== svo_ros [ 1 minute and 37.4 seconds ]
[build] There were '1' errors:
Failed to build package 'svo_ros' because the following command:
# Command to reproduce:
cd /home/bcs/svo_install_overlay_ws/build/svo_ros && /home/bcs/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -
# Path to log:
cat /home/bcs/svo_install_overlay_ws/build/build_logs/svo_ros.log
Exited with return code: 2
[build] Runtime: 1 minute and 38.0 seconds
As suggested in a previous closed issue, I have checked my opencv libraries using ls -l /opt/ros/kinetic/lib/ | grep opencv. And I got
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_aruco3.so -> libopencv_aruco3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_aruco3.so.3.3 -> libopencv_aruco3.so.3.3.1
-rw-r--r-- 1 root root 308784 11月 7 02:47 libopencv_aruco3.so.3.3.1
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_bgsegm3.so -> libopencv_bgsegm3.so.3.3
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_bgsegm3.so.3.3 -> libopencv_bgsegm3.so.3.3.1
-rw-r--r-- 1 root root 76168 11月 7 02:47 libopencv_bgsegm3.so.3.3.1
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_bioinspired3.so -> libopencv_bioinspired3.so.3.3
lrwxrwxrwx 1 root root 31 11月 7 02:47 libopencv_bioinspired3.so.3.3 -> libopencv_bioinspired3.so.3.3.1
-rw-r--r-- 1 root root 277704 11月 7 02:47 libopencv_bioinspired3.so.3.3.1
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_calib3d3.so -> libopencv_calib3d3.so.3.3
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_calib3d3.so.3.3 -> libopencv_calib3d3.so.3.3.1
-rw-r--r-- 1 root root 1586904 11月 7 02:47 libopencv_calib3d3.so.3.3.1
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_ccalib3.so -> libopencv_ccalib3.so.3.3
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_ccalib3.so.3.3 -> libopencv_ccalib3.so.3.3.1
-rw-r--r-- 1 root root 434232 11月 7 02:47 libopencv_ccalib3.so.3.3.1
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_core3.so -> libopencv_core3.so.3.3
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_core3.so.3.3 -> libopencv_core3.so.3.3.1
-rw-r--r-- 1 root root 12978328 11月 7 02:47 libopencv_core3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_cvv3.so -> libopencv_cvv3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_cvv3.so.3.3 -> libopencv_cvv3.so.3.3.1
-rw-r--r-- 1 root root 1345856 11月 7 02:47 libopencv_cvv3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_datasets3.so -> libopencv_datasets3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_datasets3.so.3.3 -> libopencv_datasets3.so.3.3.1
-rw-r--r-- 1 root root 449448 11月 7 02:47 libopencv_datasets3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_dnn3.so -> libopencv_dnn3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_dnn3.so.3.3 -> libopencv_dnn3.so.3.3.1
-rw-r--r-- 1 root root 6626600 11月 7 02:47 libopencv_dnn3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_dpm3.so -> libopencv_dpm3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_dpm3.so.3.3 -> libopencv_dpm3.so.3.3.1
-rw-r--r-- 1 root root 129704 11月 7 02:47 libopencv_dpm3.so.3.3.1
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_face3.so -> libopencv_face3.so.3.3
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_face3.so.3.3 -> libopencv_face3.so.3.3.1
-rw-r--r-- 1 root root 170832 11月 7 02:47 libopencv_face3.so.3.3.1
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_features2d3.so -> libopencv_features2d3.so.3.3
lrwxrwxrwx 1 root root 30 11月 7 02:47 libopencv_features2d3.so.3.3 -> libopencv_features2d3.so.3.3.1
-rw-r--r-- 1 root root 869016 11月 7 02:47 libopencv_features2d3.so.3.3.1
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_flann3.so -> libopencv_flann3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_flann3.so.3.3 -> libopencv_flann3.so.3.3.1
-rw-r--r-- 1 root root 334880 11月 7 02:47 libopencv_flann3.so.3.3.1
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_fuzzy3.so -> libopencv_fuzzy3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_fuzzy3.so.3.3 -> libopencv_fuzzy3.so.3.3.1
-rw-r--r-- 1 root root 113136 11月 7 02:47 libopencv_fuzzy3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_hdf3.so -> libopencv_hdf3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_hdf3.so.3.3 -> libopencv_hdf3.so.3.3.1
-rw-r--r-- 1 root root 39456 11月 7 02:47 libopencv_hdf3.so.3.3.1
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_highgui3.so -> libopencv_highgui3.so.3.3
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_highgui3.so.3.3 -> libopencv_highgui3.so.3.3.1
-rw-r--r-- 1 root root 267208 11月 7 02:47 libopencv_highgui3.so.3.3.1
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_imgcodecs3.so -> libopencv_imgcodecs3.so.3.3
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_imgcodecs3.so.3.3 -> libopencv_imgcodecs3.so.3.3.1
-rw-r--r-- 1 root root 4277928 11月 7 02:47 libopencv_imgcodecs3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_img_hash3.so -> libopencv_img_hash3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_img_hash3.so.3.3 -> libopencv_img_hash3.so.3.3.1
-rw-r--r-- 1 root root 3284496 11月 7 02:47 libopencv_img_hash3.so.3.3.1
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_imgproc3.so -> libopencv_imgproc3.so.3.3
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_imgproc3.so.3.3 -> libopencv_imgproc3.so.3.3.1
-rw-r--r-- 1 root root 39353088 11月 7 02:47 libopencv_imgproc3.so.3.3.1
lrwxrwxrwx 1 root root 33 11月 7 02:47 libopencv_line_descriptor3.so -> libopencv_line_descriptor3.so.3.3
lrwxrwxrwx 1 root root 35 11月 7 02:47 libopencv_line_descriptor3.so.3.3 -> libopencv_line_descriptor3.so.3.3.1
-rw-r--r-- 1 root root 187896 11月 7 02:47 libopencv_line_descriptor3.so.3.3.1
lrwxrwxrwx 1 root root 20 11月 7 02:47 libopencv_ml3.so -> libopencv_ml3.so.3.3
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_ml3.so.3.3 -> libopencv_ml3.so.3.3.1
-rw-r--r-- 1 root root 749472 11月 7 02:47 libopencv_ml3.so.3.3.1
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_objdetect3.so -> libopencv_objdetect3.so.3.3
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_objdetect3.so.3.3 -> libopencv_objdetect3.so.3.3.1
-rw-r--r-- 1 root root 3601744 11月 7 02:47 libopencv_objdetect3.so.3.3.1
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_optflow3.so -> libopencv_optflow3.so.3.3
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_optflow3.so.3.3 -> libopencv_optflow3.so.3.3.1
-rw-r--r-- 1 root root 397232 11月 7 02:47 libopencv_optflow3.so.3.3.1
lrwxrwxrwx 1 root root 34 11月 7 02:47 libopencv_phase_unwrapping3.so -> libopencv_phase_unwrapping3.so.3.3
lrwxrwxrwx 1 root root 36 11月 7 02:47 libopencv_phase_unwrapping3.so.3.3 -> libopencv_phase_unwrapping3.so.3.3.1
-rw-r--r-- 1 root root 35360 11月 7 02:47 libopencv_phase_unwrapping3.so.3.3.1
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_photo3.so -> libopencv_photo3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_photo3.so.3.3 -> libopencv_photo3.so.3.3.1
-rw-r--r-- 1 root root 4043536 11月 7 02:47 libopencv_photo3.so.3.3.1
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_plot3.so -> libopencv_plot3.so.3.3
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_plot3.so.3.3 -> libopencv_plot3.so.3.3.1
-rw-r--r-- 1 root root 3231056 11月 7 02:47 libopencv_plot3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_reg3.so -> libopencv_reg3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_reg3.so.3.3 -> libopencv_reg3.so.3.3.1
-rw-r--r-- 1 root root 3345936 11月 7 02:47 libopencv_reg3.so.3.3.1
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_rgbd3.so -> libopencv_rgbd3.so.3.3
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_rgbd3.so.3.3 -> libopencv_rgbd3.so.3.3.1
-rw-r--r-- 1 root root 557200 11月 7 02:47 libopencv_rgbd3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_saliency3.so -> libopencv_saliency3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_saliency3.so.3.3 -> libopencv_saliency3.so.3.3.1
-rw-r--r-- 1 root root 195832 11月 7 02:47 libopencv_saliency3.so.3.3.1
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_shape3.so -> libopencv_shape3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_shape3.so.3.3 -> libopencv_shape3.so.3.3.1
-rw-r--r-- 1 root root 240320 11月 7 02:47 libopencv_shape3.so.3.3.1
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_stereo3.so -> libopencv_stereo3.so.3.3
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_stereo3.so.3.3 -> libopencv_stereo3.so.3.3.1
-rw-r--r-- 1 root root 141824 11月 7 02:47 libopencv_stereo3.so.3.3.1
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_stitching3.so -> libopencv_stitching3.so.3.3
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_stitching3.so.3.3 -> libopencv_stitching3.so.3.3.1
-rw-r--r-- 1 root root 602760 11月 7 02:47 libopencv_stitching3.so.3.3.1
lrwxrwxrwx 1 root root 34 11月 7 02:47 libopencv_structured_light3.so -> libopencv_structured_light3.so.3.3
lrwxrwxrwx 1 root root 36 11月 7 02:47 libopencv_structured_light3.so.3.3 -> libopencv_structured_light3.so.3.3.1
-rw-r--r-- 1 root root 121608 11月 7 02:47 libopencv_structured_light3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_superres3.so -> libopencv_superres3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_superres3.so.3.3 -> libopencv_superres3.so.3.3.1
-rw-r--r-- 1 root root 175176 11月 7 02:47 libopencv_superres3.so.3.3.1
lrwxrwxrwx 1 root root 34 11月 7 02:47 libopencv_surface_matching3.so -> libopencv_surface_matching3.so.3.3
lrwxrwxrwx 1 root root 36 11月 7 02:47 libopencv_surface_matching3.so.3.3 -> libopencv_surface_matching3.so.3.3.1
-rw-r--r-- 1 root root 286136 11月 7 02:47 libopencv_surface_matching3.so.3.3.1
lrwxrwxrwx 1 root root 22 11月 7 02:47 libopencv_text3.so -> libopencv_text3.so.3.3
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_text3.so.3.3 -> libopencv_text3.so.3.3.1
-rw-r--r-- 1 root root 409624 11月 7 02:47 libopencv_text3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_tracking3.so -> libopencv_tracking3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_tracking3.so.3.3 -> libopencv_tracking3.so.3.3.1
-rw-r--r-- 1 root root 2115336 11月 7 02:47 libopencv_tracking3.so.3.3.1
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_video3.so -> libopencv_video3.so.3.3
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_video3.so.3.3 -> libopencv_video3.so.3.3.1
-rw-r--r-- 1 root root 3609488 11月 7 02:47 libopencv_video3.so.3.3.1
lrwxrwxrwx 1 root root 25 11月 7 02:47 libopencv_videoio3.so -> libopencv_videoio3.so.3.3
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_videoio3.so.3.3 -> libopencv_videoio3.so.3.3.1
-rw-r--r-- 1 root root 163216 11月 7 02:47 libopencv_videoio3.so.3.3.1
lrwxrwxrwx 1 root root 27 11月 7 02:47 libopencv_videostab3.so -> libopencv_videostab3.so.3.3
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_videostab3.so.3.3 -> libopencv_videostab3.so.3.3.1
-rw-r--r-- 1 root root 347376 11月 7 02:47 libopencv_videostab3.so.3.3.1
lrwxrwxrwx 1 root root 21 11月 7 02:47 libopencv_viz3.so -> libopencv_viz3.so.3.3
lrwxrwxrwx 1 root root 23 11月 7 02:47 libopencv_viz3.so.3.3 -> libopencv_viz3.so.3.3.1
-rw-r--r-- 1 root root 394408 11月 7 02:47 libopencv_viz3.so.3.3.1
lrwxrwxrwx 1 root root 29 11月 7 02:47 libopencv_xfeatures2d3.so -> libopencv_xfeatures2d3.so.3.3
lrwxrwxrwx 1 root root 31 11月 7 02:47 libopencv_xfeatures2d3.so.3.3 -> libopencv_xfeatures2d3.so.3.3.1
-rw-r--r-- 1 root root 2879304 11月 7 02:47 libopencv_xfeatures2d3.so.3.3.1
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_ximgproc3.so -> libopencv_ximgproc3.so.3.3
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_ximgproc3.so.3.3 -> libopencv_ximgproc3.so.3.3.1
-rw-r--r-- 1 root root 1147448 11月 7 02:47 libopencv_ximgproc3.so.3.3.1
lrwxrwxrwx 1 root root 28 11月 7 02:47 libopencv_xobjdetect3.so -> libopencv_xobjdetect3.so.3.3
lrwxrwxrwx 1 root root 30 11月 7 02:47 libopencv_xobjdetect3.so.3.3 -> libopencv_xobjdetect3.so.3.3.1
-rw-r--r-- 1 root root 105160 11月 7 02:47 libopencv_xobjdetect3.so.3.3.1
lrwxrwxrwx 1 root root 24 11月 7 02:47 libopencv_xphoto3.so -> libopencv_xphoto3.so.3.3
lrwxrwxrwx 1 root root 26 11月 7 02:47 libopencv_xphoto3.so.3.3 -> libopencv_xphoto3.so.3.3.1
-rw-r--r-- 1 root root 3413520 11月 7 02:47 libopencv_xphoto3.so.3.3.1
It appeared that the OpenCV libraries in ROS Kinetic has updraded to 3.3.1 recently, and there is a compatibility problem with SVO binaries which tried to find 3.2 libraries.
Hi, sorry for the delay, I just updated the binaries, you can download the updated one with the same link. Let me know if it works for you.
FYI, there is also an issue with OpenCV 3.3.1: https://github.com/ros-perception/vision_opencv/issues/193 and it is fixed in OpenCV 3.4. Therefore I would expect ROS will update to OpenCV 3.4 soon, which will break the binaries compatibility again.
Hi, I am using 16.04, Kinetic and Opencv 3.4.1. And I have the same error as above, can this be fixed? Thanks
