我試過在ROS答案上詢問this question沒有運氣,所以我要在這裏嘗試。ROS Roboearth Ubuntu 12.04 vision_opencv鏈接錯誤
我想編譯ROS Roboearth package並且似乎有一些與vision_opencv的鏈接錯誤。
當我第一次嘗試通過提供的指令進行編譯時,我無法編譯,因爲我有舊的編譯器,而且我沒有Fuerte。所以,我將Ubuntu升級到12.04,並更新爲ROS Fuerte。
然後我意識到12.04不具備所需的ros-fuerte-vision-opencv2依賴性。所以,我從源代碼編譯並構建了OpenCV 2.4.3,這很好。然後我意識到,我也無法取得我從here得到的ros-fuerte-vision-opencv,檢出了「fuerte」分支並編譯到/ opt/ros/fuerte/stacks/vision_opencv中。
現在,當我嘗試通過
rosmake roboearth
我得到以下鏈接錯誤,使roboearth。
謝謝你的幫助。這可能只是我對C++缺乏瞭解,但是我嘗試了一切,從檢查依賴關係到重新設置編譯器標誌和依賴關係的順序,我似乎無法得到它的工作。
[rosmake-1] Starting >>> ar_pose [ make ]
[ rosmake ] Last 40 lines_vision: 30.7 sec ] [ ar_pose: 4.2 sec ] [ 2 Active 47/103 Complete ]
{-------------------------------------------------------------------------------
make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
[ 70%] Built target rosbuild_precompile
make[3]: Entering directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
make[3]: Entering directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
Linking CXX executable ../bin/ar_multi
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `ar_pose::ARSinglePublisher::arInit()':
/home/sasha/ros/stacks/ccny_vision/ar_pose/src/ar_multi.cpp:140: undefined reference to `cvCreateImage'
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `CvBridge':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:67: undefined reference to `cvCreateImageHeader'
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `~CvBridge':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:73: undefined reference to `cvReleaseImageHeader'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:78: undefined reference to `cvReleaseImage'
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::reallocIfNeeded_(_IplImage**, CvSize, int, int)':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:91: undefined reference to `cvReleaseImage'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:97: undefined reference to `cvCreateImage'
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::reallocIfNeeded(_IplImage**, int, int)':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:109: undefined reference to `cvGetSize'
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::fromImage(sensor_msgs::Image_<std::allocator<void> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:199: undefined reference to `cvInitMatHeader'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:200: undefined reference to `cvGetImage'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:229: undefined reference to `cvCreateMat'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:230: undefined reference to `cvConvertScale'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:236: undefined reference to `cvConvertScale'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:243: undefined reference to `cvCvtColor'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:245: undefined reference to `cvCvtColor'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:247: undefined reference to `cvCvtColor'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:249: undefined reference to `cvCvtColor'
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:253: undefined reference to `cvCvtColor'
CMakeFiles/ar_multi.dir/src/ar_multi.o:/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:255: more undefined references to `cvCvtColor' follow
CMakeFiles/ar_multi.dir/src/ar_multi.o: In function `sensor_msgs::CvBridge::fromImage(sensor_msgs::Image_<std::allocator<void> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)':
/opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:293: undefined reference to `cvReleaseMat'
collect2: ld returned 1 exit status
make[3]: *** [../bin/ar_multi] Error 1
make[3]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
make[2]: *** [CMakeFiles/ar_multi.dir/all] Error 2
make[2]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/sasha/ros/stacks/ccny_vision/ar_pose/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package ar_pose written to:
[ rosmake ] /home/sasha/.ros/rosmake/rosmake_output-20130212-145046/ar_pose/build_output.log
[rosmake-1] Finished <<< ar_pose [FAIL] [ 4.31 seconds ]
[ rosmake ] Halting due to failure in package ar_pose.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Last 40 lines_vision: 182.3 sec ] [ 1 Active 47/103 Complete ]
{-------------------------------------------------------------------------------
../lib/libObjectDetectorFunctions.so: undefined reference to `cvReleaseMat'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::reshape(int, int, int const*) const'
../lib/libObjectDetectorFunctions.so: undefined reference to `cvSetZero'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::warpPerspective(cv::_InputArray const&, cv::_OutputArray const&, cv::_InputArray const&, cv::Size_<int>, int, int, cv::Scalar_<double> const&)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::getTextSize(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, double, int, int*)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::zeros(int, int, int)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::_InputArray::_InputArray(cv::MatExpr const&)'
../lib/libDVision.so: undefined reference to `cv::read(cv::FileNode const&, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> >&)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::DescriptorMatcher::DescriptorCollection::~DescriptorCollection()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::FlannBasedMatcher::train()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cvCvtColor'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::MatConstIterator::seek(int const*, bool)'
../lib/libDVision.so: undefined reference to `cv::FeatureDetector::~FeatureDetector()'
../lib/libDUtilsCV.so: undefined reference to `cv::line(cv::Mat&, cv::Point_<int>, cv::Point_<int>, cv::Scalar_<double> const&, int, int, int)'
../lib/libDVision.so: undefined reference to `cv::Exception::Exception(int, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::initUndistortRectifyMap(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int>, int, cv::_OutputArray const&, cv::_OutputArray const&)'
../lib/libDVision.so: undefined reference to `cv::WriteStructContext::~WriteStructContext()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::copySize(cv::Mat const&)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cvCreateImageHeader'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::inv(int) const'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::copyTo(cv::_OutputArray const&) const'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::Mat(cv::Mat const&, cv::Range const&, cv::Range const&)'
../lib/libDVision.so: undefined reference to `cv::operator<<(cv::FileStorage&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::flann::IndexParams::~IndexParams()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cvGetSize'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Mat::deallocate()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::_InputArray::_InputArray(double const&)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cvCreateImage'
../lib/libDUtilsCV.so: undefined reference to `cv::namedWindow(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::Algorithm::~Algorithm()'
../lib/libObjectDetectorFunctions.so: undefined reference to `cv::FlannBasedMatcher::FlannBasedMatcher(cv::Ptr<cv::flann::IndexParams> const&, cv::Ptr<cv::flann::SearchParams> const&)'
../lib/libDVision.so: undefined reference to `cv::Algorithm::set(char const*, bool)'
collect2: ld returned 1 exit status
make[3]: *** [../bin/ObjectDetector] Error 1
make[3]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build'
make[2]: *** [CMakeFiles/ObjectDetector.dir/all] Error 2
make[2]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/sasha/ros/stacks/roboearth/re_vision/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package re_vision written to:
[ rosmake ] /home/sasha/.ros/rosmake/rosmake_output-20130212-145046/re_vision/build_output.log
[rosmake-0] Finished <<< re_vision [FAIL] [ 182.31 seconds ]
[ rosmake ] Halting due to failure in package re_vision.
我相信這個問題是在'roboearth/re_vision'某處它試圖在'vision_opencv'中使用絕對或破碎的庫。 [這裏](https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest/re_vision/CMakeLists.txt)是重新鏈接CMakeLists.txt和[this](https:/ /github.com/ros-perception/vision_opencv/blob/groovy-devel/cv_bridge/CMakeLists.txt)是'vision_opencv/cv_bridge' CMakeLists.txt。並且[here](https://github.com/ros-perception/vision_opencv/blob/fuerte-devel/opencv2/manifest.xml)是'vision_opencv/opencv2' manifext.xml。我希望這有幫助。 – AlexIIP 2013-02-14 21:46:04