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Use ros-indigo-opencv3 alongside 2.4.8?

asked 2015-07-18 07:34:50 -0500

lucasw gravatar image

updated 2015-11-30 17:56:33 -0500

Maybe it is brand new but I've recently noticed I can install ros-indigo-opencv3. It installs into the /opt/ros/indigo. There is also a opencv 2.4.8 already installed into the system outside of /opt in /usr/lib/x86_64-linux-gnu/, and every ros package from the repositories linked against opencv is linked to that.

When I try to build a package that depends on cv_bridge it fails:

CMakeFiles/rotate_cam.dir/src/rotate_cam.cpp.o: In function `RotateImage::RotateImage()':
rotate_cam.cpp:(.text+0x6dc): undefined reference to `cv::imread(cv::String const&, int)'
CMakeFiles/rotate_cam.dir/src/rotate_cam.cpp.o: In function `cv::String::~String()':
rotate_cam.cpp:(.text._ZN2cv6StringD2Ev[_ZN2cv6StringD5Ev]+0x14): undefined reference to `cv::String::deallocate()'
CMakeFiles/rotate_cam.dir/src/rotate_cam.cpp.o: In function `cv::String::String(std::string const&)':
rotate_cam.cpp:(.text._ZN2cv6StringC2ERKSs[_ZN2cv6StringC5ERKSs]+0x69): undefined reference to `cv::String::allocate(unsigned long)'

And if I remove ros-indigo-opencv3 it builds fine. With VERBOSE=1 I don't see any trace of opencv3 includes or libraries (cv_bridge properly brings in 2.4.8 libraries, and includes /usr/include/opencv which is still 2.4.8).

The problem is that it is using opencv 3.0 headers and linking against 2.4.8, and breakage between those produces the link error.

When the a node dependent on opencv 2.4.8 builds it runs:

c++ ... -I/opt/ros/jade/include -I/usr/include/opencv ...

It seem like one problem is that opencv 3.0 is installed in the jade directories and 2.4.8 is in the usr directory- so it is using the wrong header files. But even when I correct this ordering the linker error still occurs.

What I'd like is to have opencv 3.0 available for special packages that need it (though they can't also link to cv_bridge, no mixing of 2.4.8 and 3.0 in the same package?).

I'm going to try to duplicate this problem on a small scale, it is possibly an artifact of something in one of my cmake files in my large workspace.

Ubuntu 14.04.2

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Comments

Any update on this? I working on a project with similar concerns.

jeremya gravatar imagejeremya ( 2015-09-28 15:22:47 -0500 )edit

Tried this with ros-jade-opencv3.0 and it fails the same way.

lucasw gravatar imagelucasw ( 2015-11-30 16:30:08 -0500 )edit
lucasw gravatar imagelucasw ( 2015-11-30 16:34:55 -0500 )edit

@jeremya I was able to get opencv 3.0 installed from source to a non-standard location and have a specific package find_package it. ros-indigo-opencv3 seems just plain broken. http://answers.ros.org/question/21392...

lucasw gravatar imagelucasw ( 2015-11-30 16:47:09 -0500 )edit

1 Answer

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5

answered 2015-12-01 10:29:36 -0500

lucasw gravatar image

My current solution is to build OpenCV 3.0 from source and then install it into a location that is not on any paths. Then in the package

# don't use opencv as found by any prior running of find_package
unset(OpenCV_CONFIG_PATH CACHE)
unset(OpenCV_DIR CACHE)

set(TMP_PREFIX_PATH ${CMAKE_PREFIX_PATH})
set(CMAKE_PREFIX_PATH "$ENV{HOME}/special/install")
find_package(OpenCV 3.0 REQUIRED)

# restore CMAKE_PREFIX_PATH and other cached variables
# so nothing other package finds this opencv
set(CMAKE_PREFIX_PATH ${TMP_PREFIX_PATH})

unset(OpenCV_CONFIG_PATH CACHE)
unset(OpenCV_DIR CACHE)

...

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

target_link_libraries(foo_node
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)
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Comments

With this solution do you still have the limitation that you can't use cv_bridge in the same node?

Thomas D gravatar imageThomas D ( 2015-12-31 14:58:35 -0500 )edit

It does have that limitation- I haven't done it but cv_bridge could maybe be recompiled against cv 3.0 in the workspace.

lucasw gravatar imagelucasw ( 2016-01-19 16:05:38 -0500 )edit
2

I spent hours trying to do this before finding this answer! I can confirm that cv_bridge can be used in the same node: recompile cv_bridge from source and use this approach for both your code and cv_bridge.

cyberguy42 gravatar imagecyberguy42 ( 2016-02-23 19:40:20 -0500 )edit

@cyberguy42 did you do something special to compile from source, because dpkg did not help me.

jtim gravatar imagejtim ( 2016-07-27 06:08:45 -0500 )edit
1

I didn't use dpkg at all; I downloaded this package link text to my catkin workspace, applied the suggested changes to each affected CMakeLists, and compiled.

cyberguy42 gravatar imagecyberguy42 ( 2016-07-28 10:27:15 -0500 )edit
1

However, I did encounter issues making my program into a nodelet: it compiled fine, but crashed at run time. Debugging revealed that it was trying to call the 2.4.8 library. Static compiling of 3.0 into my program didn't fix the problem. Lesson: run 2.4.8 and 3.0 code in separate processes.

cyberguy42 gravatar imagecyberguy42 ( 2016-07-28 10:32:16 -0500 )edit

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Asked: 2015-07-18 07:34:50 -0500

Seen: 5,885 times

Last updated: Dec 01 '15