Undefined reference to cv::imshow(..) when compiling pkg

asked 2020-01-30 11:07:39 -0500

VivosLespagnos gravatar image

updated 2020-01-30 11:33:41 -0500

Hi,

I'm using ROS MELODIC on Ubuntu 18.04, Kernel 4.18.0-25. My goal is to receive (with subscriber) a video stream thank to my D435 IntelRealSense, do a traitment and re-publish on a new topic !

I did a new package but I'm sure there is a problem with, cause I have error message when I make the package.

This is my node (ultimate.cpp) :

include <ros/ros.h>
include <image_transport/image_transport.h>
include <cv_bridge/cv_bridge.h>
include <sensor_msgs/image_encodings.h>
include <opencv2/imgproc/imgproc.hpp>
include <opencv2/highgui/highgui.hpp>
include "sensor_msgs/Range.h"
include "sensor_msgs/Image.h"
include <image_transport/image_transport.h>

include <iostream>
include <signal.h>

static const std::string OPENCV_WINDOW = "Image window";

class ImageConverter
{
  ros::NodeHandle nh_;
  image_transport::ImageTransport it_;
  image_transport::Subscriber image_sub_;
  image_transport::Publisher image_pub_;

public:
  ImageConverter()
    : it_(nh_)
  {
    // Subscrive to input video feed and publish output video feed
    image_sub_ = it_.subscribe("/camera/image_raw", 1, &ImageConverter::imageCb, this);
    image_pub_ = it_.advertise("/image_converter/output_video", 1);

    cv::namedWindow(OPENCV_WINDOW);
  }

  ~ImageConverter()
  {
    cv::destroyWindow(OPENCV_WINDOW);
  }

  void imageCb(const sensor_msgs::ImageConstPtr& msg)
  {
    cv_bridge::CvImagePtr cv_ptr;
    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }

    // Draw an example circle on the video stream
    if (cv_ptr->image.rows > 60 && cv_ptr->image.cols > 60)
      cv::circle(cv_ptr->image, cv::Point(50, 50), 10, CV_RGB(255,0,0));

    // Update GUI Window
    cv::imshow(OPENCV_WINDOW, cv_ptr->image);
    cv::waitKey(3);

    // Output modified video stream
    image_pub_.publish(cv_ptr->toImageMsg());
  }
};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "image_converter");
  ImageConverter ic;
  ros::spin();
  return 0;
}

Moreover it's node come from wiki.ros : http://wiki.ros.org/cv_bridge/Tutoria...

The CMakeList.txt :

cmake_minimum_required(VERSION 2.8.3)
project(ultimate)


find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
)

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})


catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ultimate
  CATKIN_DEPENDS cv_bridge image_transport roscpp rospy sensor_msgs std_msgs
#  DEPENDS system_lib
)

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

target_link_libraries (ultimate ${catkin_LIBRARIES} ${TRANSLATE_LIB} ${GESTOOS_LIB} ${OPENNI2_LIB} ${OPENCV_LIBS} ${BOOST_LIBS} ${CURL_LIB} ${RSNSE2_LIB} ${ROYALE_LIB} -pthread -ldl)

The error message :

crabe@PRJ11:~/catkin_ws$ catkin_make --only-pkg-with-deps ultimate
Base path: /home/crabe/catkin_ws
Source space: /home/crabe/catkin_ws/src
Build space: /home/crabe/catkin_ws/build
Devel space: /home/crabe/catkin_ws/devel
Install space: /home/crabe/catkin_ws/install
Whitelisted packages: ultimate
####
#### Running command: "make cmake_check_build_system" in "/home/crabe/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/crabe/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/crabe/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/crabe/catkin_ws/devel;/opt/ros/melodic
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: False
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Using CATKIN_WHITELIST_PACKAGES: ultimate
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - ultimate
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'ultimate'
-- ==> add_subdirectory(ultimate)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/crabe/catkin_ws/build
####
#### Running command: "make -j4 -l4" in "/home/crabe/catkin_ws/build"
####
Scanning dependencies of target ultimate
[ 50%] Building CXX object ultimate/CMakeFiles/ultimate.dir/src/ultimate.cpp.o
[100%] Linking CXX executable /home/crabe/catkin_ws/devel/lib ...
(more)
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Comments

+100 for not posting terminal screenshots, but could you please remove all the comments from your CMakeLists.txt (ie: the lines starting with #)? They are unnecessary and take up a lot of space.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-30 11:28:51 -0500 )edit

I have done it, sorry, Any ideas ?

VivosLespagnos gravatar image VivosLespagnos  ( 2020-01-30 11:34:45 -0500 )edit

I doubt very much that ${OPENCV_LIBS} is the correct name of the variable which contains the OpenCV libraries.

As you can see here, the name of the variable containing the libraries should be OpenCV_LIBRARIES.

I'd recommend replacing OPENCV_LIBS with OpenCV_LIBRARIES and trying again.

I'd also recommend to search (with regular Google) on other fora (and the general internet), as this is not a ROS-specific problem, but a generic one.


Edit: and the same goes for BOOST_LIBS, CURL_LIB, TRANSLATE_LIB, etc.

There don't appear to be any find_package(..) statements in your CMakeLists.txt that are related to these variables.

Where are they supposed to come from?

gvdhoorn gravatar image gvdhoorn  ( 2020-01-30 13:17:55 -0500 )edit