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Error linking to OpenCV DNN Library

asked 2019-01-08 15:28:17 -0500

pedrosc97 gravatar image

I'm writing a Publisher-Subscriber node to run a face detection program using the images from my webcam. I am trying to use the OpenCV DNN module. The problem is, whenever I try to catkin_make my project, the following is output on the console:

pedrosc@PEDROSC:~/robotics$ catkin_make
Base path: /home/pedrosc/robotics
Source space: /home/pedrosc/robotics/src
Build space: /home/pedrosc/robotics/build
Devel space: /home/pedrosc/robotics/devel
Install space: /home/pedrosc/robotics/install
####
#### Running command: "make cmake_check_build_system" in "/home/pedrosc/robotics/build"
####
####
#### Running command: "make -j8 -l8" in "/home/pedrosc/robotics/build"
####
[ 50%] Linking CXX executable /home/pedrosc/robotics/src/artrack/src/artrack_imgproc
CMakeFiles/artrack_imgproc.dir/src/artrack_imgproc.cpp.o: In function `ImageProcessor::ImageProcessor()':
artrack_imgproc.cpp:(.text._ZN14ImageProcessorC2Ev[_ZN14ImageProcessorC5Ev]+0xdd): undefined reference to `cv::dnn::experimental_dnn_v2::Net::Net()'
artrack_imgproc.cpp:(.text._ZN14ImageProcessorC2Ev[_ZN14ImageProcessorC5Ev]+0x622): undefined reference to `cv::dnn::experimental_dnn_v2::Net::~Net()'
CMakeFiles/artrack_imgproc.dir/src/artrack_imgproc.cpp.o: In function `ImageProcessor::~ImageProcessor()':
artrack_imgproc.cpp:(.text._ZN14ImageProcessorD2Ev[_ZN14ImageProcessorD5Ev]+0x53): undefined reference to `cv::dnn::experimental_dnn_v2::Net::~Net()'
artrack_imgproc.cpp:(.text._ZN14ImageProcessorD2Ev[_ZN14ImageProcessorD5Ev]+0xd4): undefined reference to `cv::dnn::experimental_dnn_v2::Net::~Net()'
collect2: error: ld returned 1 exit status
artrack/CMakeFiles/artrack_imgproc.dir/build.make:229: recipe for target '/home/pedrosc/robotics/src/artrack/src/artrack_imgproc' failed
make[2]: *** [/home/pedrosc/robotics/src/artrack/src/artrack_imgproc] Error 1
CMakeFiles/Makefile2:477: recipe for target 'artrack/CMakeFiles/artrack_imgproc.dir/all' failed
make[1]: *** [artrack/CMakeFiles/artrack_imgproc.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I have successfully installed OpenCV 3.4.5 (since the one included with ROS Kinetic is version 3.0.0 and it doesn't have the files I need). Here is my CMakeLists.txt file:

cmake_minimum_required(VERSION 2.8.3)
project(artrack)
find_package(catkin REQUIRED COMPONENTS
    roscpp 
    rospy
    std_msgs
    message_generation
    image_transport
    geometry_msgs
    ardrone_autonomy
)

find_package(OpenCV 3.4.5 REQUIRED)
find_package(uvc_camera REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)

include_directories(
    ${catkin_INCLUDE_DIRS}
    ${uvc_camera_INCLUDE_DIRS}
    ${cv_bridge_INCLUDE_DIRS}
    ${sensor_msgs_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
)


add_executable(artrack_imgproc src/artrack_imgproc.cpp)
target_link_libraries(artrack_imgproc 
    ${catkin_LIBRARIES}
    ${uvc_camera_LIBRARIES}
    ${cv_bridge_LIBRARIES}
    ${sensors_msgs_LIBRARIES}
    ${OpenCV_LIBRARIES}
)
set_target_properties(artrack_imgproc PROPERTIES RUNTIME_OUTPUT_DIRECTORY ~/robotics/src/artrack/src)


catkin_package(CATKIN_DEPENDS
    message_runtime
    sensor_msgs
    image_transport
    cv_bridge
    geometry_msgs
)

And the .cpp file for the node:

//////////////////////////////////////////////////////////////////////////////////////////////////////
//  
//  ImageProcessor 
//  
//  Node source code for the processing of the image. It uses neural networks to detect faces,
//  then tracks the detected face using a tracking algorithm. It publishes the coordinates of
//  the centroid of the face. This node also handles the GUI elements of the main window of 
//  the project.
//
//////////////////////////////////////////////////////////////////////////////////////////////////////

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/core.hpp>
#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/core/utils/trace.hpp>
#include <iostream>

using namespace cv;
using namespace cv::dnn;
using namespace std;

static const std::string OPENCV_WINDOW = "OpenCV Image Window";

//Image Processor Class

class ImageProcessor
{
  //Object declarations for the ROS elements
  ros::NodeHandle nh_;

  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  image_transport::Publisher image_pub_;

  //Object initialization for ...
(more)
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1 Answer

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1

answered 2019-02-05 21:26:28 -0500

haritsahm gravatar image

updated 2019-02-08 00:51:55 -0500

Hi, I also have a problem like you with the OpenCV 3.4.1 and trying to use DNN with ROS. But I managed to solve it, by adding the cv_bridge from source to my workspace and modify the CMakelists to use the same local OpenCV version.

The problem is caused by cv_bridge which use the OpenCV 3 from ROS instead of our local version. Hope it works!


This is my CMakelists

cmake_minimum_required(VERSION 2.8.3)
project(dnn_detector)

add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_generation
    )

find_package(Boost REQUIRED COMPONENTS thread)

set(OpenCV_DIR "/usr/local/share/OpenCV/")
find_package(OpenCV 3.4.1 REQUIRED)
find_package(yaml-cpp REQUIRED)

################################################################################
# Declare catkin specific configuration to be passed to dependent projects
##################################################################################
catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS
    roscpp
    roslib
    std_msgs
    sensor_msgs
    geometry_msgs
    dynamic_reconfigure
    cv_bridge
    image_transport
    message_runtime
    DEPENDS Boost OpenCV
    )

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
    include
    ${OpenCV_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
    ${YAML_CPP_INCLUDE_DIR}
    )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node dnn_detector_node.cpp
    src/dnn_detector.cpp
    )

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} dnn_detector_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
    ${catkin_LIBRARIES}
    ${OpenCV_LIBS}
    ${Boost_LIBRARIES}
    ${YAML_CPP_LIBRARIES}
    )
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Asked: 2019-01-08 15:28:17 -0500

Seen: 546 times

Last updated: Feb 08