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Well, the library ccny_rgbd_registration uses the symbol ccny_rgbd::removeInvalidDistributions(...), which is defined in anonther library ccny_rgbd_util. I explicitly linked ccny_rgbd_registration with ccny_rgbd_util, and problem is gone.

I barely understand why it wasn't working when there was no direct linkage between these libraries. Maybe this symbol was sort of optimized out because executable file wasn't using it directly? But I've tried to build executables with -O0, and this didn't help.