ICP tutorial from documentation tries linking to many database related libraries, fails.

[nilspin]

I am trying to build the ICP registration demo from here using the cmake script provided. But on make I get lot of linker errors about missing database libraries under VTK package. I don't understand why I need all this to build a simple example.

Your Environment

• Operating System and version: Archlinux 64-bit
• Compiler: gcc 8.2
• PCL Version: 1.9

Context

Expected Behavior

make output

nilay@[~/Projects/pcl_icp_demo/build]$ make -j6
[ 50%] Linking CXX executable pcl_icp
/usr/bin/ld: warning: libgdal.so.20, needed by /usr/lib/libvtkIOGDAL.so.1, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmysqlclient.so.18, needed by /usr/lib/libvtkIOMySQL.so.1, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libodbc.so.2, needed by /usr/lib/libvtkIOODBC.so.1, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libpq.so.5, needed by /usr/lib/libvtkIOPostgreSQL.so.1, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQresultErrorMessage'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_error@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQnfields'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_real_connect@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALDataset::GetRasterCount()'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_data_seek@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_param_count@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQfformat'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALRasterBand::GetRasterDataType()'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQerrorMessage'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLCloseCursor'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `VSIFree'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALOpen'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLPrepare'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALRasterBand::RasterIO(GDALRWFlag, int, int, int, int, void*, int, int, GDALDataType, long long, long long, GDALRasterIOExtraArg*)'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_error@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_get_server_version@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALOpenEx'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `CPLGetLastErrorMsg'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRFeature::GetGeometryRef()'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_fetch_field@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_execute@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLAllocHandle'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLColumns'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQescapeStringConn'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_real_escape_string@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQexec'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_fetch_field_direct@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_options@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLGetData'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALGetMetadata'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_query@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLFreeStmt'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLFetch'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLDriverConnect'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLGetDiagRec'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_list_fields@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLTables'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQresStatus'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQftype'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_close@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRGeometryCollection::getNumGeometries() const'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_init@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALColorTable::GetColorEntryCount() const'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQfname'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLNumParams'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALGetDriverShortName'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALAllRegister'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_close@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRFeature::GetFieldAsInteger(int) const'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_get_client_version@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_store_result@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRFeature::GetFieldAsString(int) const'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_fetch_lengths@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRSpatialReference::OGRSpatialReference(char const*)'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQgetvalue'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRFeature::GetFieldAsDouble(int) const'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQclear'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQconnectdb'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRPolygon::getExteriorRing()'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRRegisterAll'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALDataset::GetRasterBand(int)'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALGetGeoTransform'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRGeometryCollection::getGeometryRef(int)'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLSetEnvAttr'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQstatus'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_fetch_row@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRSpatialReference::exportToProj4(char**) const'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALColorTable::GetPaletteInterpretation() const'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQntuples'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_init@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALGetDriverLongName'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLSetStmtAttr'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLDisconnect'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALGetDatasetDriver'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_errno@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_prepare@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQresultStatus'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLFetchScroll'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLColAttribute'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLNumResultCols'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `CSLCount'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRFeature::DestroyFeature(OGRFeature*)'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLBindParameter'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQfinish'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_free_result@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRSimpleCurve::getZ(int) const'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALDataset::GetRasterYSize()'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_result_metadata@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLDescribeCol'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLSetConnectAttr'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_num_fields@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_field_count@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLEndTran'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLFreeHandle'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALColorTable::GetColorEntry(int) const'
/usr/bin/ld: /usr/lib/libvtkIOODBC.so.1: undefined reference to `SQLExecute'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALClose'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRSpatialReference::~OGRSpatialReference()'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_list_tables@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRCurvePolygon::getNumInteriorRings() const'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `OGRSpatialReference::exportToWkt(char**) const'
/usr/bin/ld: /usr/lib/libvtkIOMySQL.so.1: undefined reference to `mysql_stmt_bind_param@libmysqlclient_18'
/usr/bin/ld: /usr/lib/libvtkIOPostgreSQL.so.1: undefined reference to `PQgetisnull'
/usr/bin/ld: /usr/lib/libvtkIOGDAL.so.1: undefined reference to `GDALDataset::GetRasterXSize()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/pcl_icp.dir/build.make:318: pcl_icp] Error 1
make[1]: *** [CMakeFiles/Makefile2:73: CMakeFiles/pcl_icp.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

[taketwo]

PCL does not use any of these database-related modules, of course. Apparently something is wrong with your VTK install.

[nilspin]

Issue was with missing VTK dependencies. Solved.

[titibandit]

Could you please be more specific? What did you do to solve that problem?
Thanks

[titibandit]

On archlinux, the packages that needed to be installed are:
pdal, unixodbc and gdal.
Once they're installed, linking works.