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error while build #162

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Exception4U opened this issue Jan 21, 2017 · 14 comments
Closed

error while build #162

Exception4U opened this issue Jan 21, 2017 · 14 comments

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@Exception4U
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../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_pinv' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_post'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_calloc' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_malloc'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_nfree' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_spfree'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_etree' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_symperm' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_schol'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_cumsum'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_sfree' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_amd'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_free'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_counts' collect2: error: ld returned 1 exit status make[2]: *** [../bin/rtabmap-camera] Error 1 make[1]: *** [tools/Camera/CMakeFiles/camera.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 67%] Building CXX object guilib/src/CMakeFiles/rtabmap_gui.dir/PdfPlot.cpp.o ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_pinv'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_post' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_calloc'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_malloc' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_nfree'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_spfree' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_etree'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_symperm'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_schol' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_cumsum' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_sfree'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_amd' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_free' ../../../bin/librtabmap_core.so.0.11.10: undefined reference to cs_counts'
collect2: error: ld returned 1 exit status
make[2]: *** [../bin/rtabmap-stereoEval] Error 1
@Exception4U
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it seems it cannot bind csparse . I have installed libsuitesparse-dev allready. Any comments ?

@matlabbe
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What is the output of (clean) cmake?

$ cd rtabmap/build
$ rm CMakeCache.txt
$ cmake ..

@jemmazhou
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Hello,I encounter the same problem as you ,Can you give me some help.Thanks

@CelestialBoon
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CelestialBoon commented Oct 12, 2017 •
edited

I've got a similar error:

[ 83%] Linking CXX executable ../../../bin/rtabmap
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_pinv'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_post'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_calloc'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_malloc'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_nfree'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_spfree'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_etree'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_symperm'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_schol'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_cumsum'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_sfree'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_amd'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_free'
../../../bin/librtabmap_core.so.0.14.2: undefined reference to 'cs_counts'
collect2: error: ld returned 1 exit status
app/src/CMakeFiles/rtabmap.dir/build.make:518: recipe for target '../bin/rtabmap' failed
make[2]: *** [../bin/rtabmap] Error 1
CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed
make[1]: *** [app/src/CMakeFiles/rtabmap.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2

And the clean cmake output:

-- Checking for module 'eigen3'
--   Found eigen3, version 3.2.92
-- Found eigen: /usr/include/eigen3  
-- Checking for module 'flann'
--   Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- Checking for module 'libopenni2'
--   Found libopenni2, version 2.2.0.3
-- Found OpenNI2: /usr/lib/libOpenNI2.so  
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
-- Found PCL_GEOMETRY: /usr/include/pcl-1.7  
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so  
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so  
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so  
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so  
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so  
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so  
-- Could NOT find PCL_APPS (missing:  PCL_APPS_LIBRARY) 
-- Found PCL_MODELER: /usr/include/pcl-1.7  
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.7  
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.7  
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp  
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.2.0-dev;/opt/ros/kinetic/include/opencv-3.2.0-dev/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/python2.7;/usr/include/jsoncpp;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/tcl
-- Found ZLIB: /usr/include
-- Found Freenect: /usr/include
-- Found freenect2: /usr/local/include
-- Found OpenNI2: /usr/include/openni2
-- Found CSPARSE: /usr/local/include/EXTERNAL/csparse  
-- Found g2o: /opt/ros/kinetic/include;/usr/local/include/EXTERNAL/csparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found octomap: /opt/ros/kinetic/include
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.14.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++11
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = YES (License: Apache v2 and/or GPLv2)
--   With dc1394               = NO (dc1394 not found)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With libpointmatcher      = NO (libpointmatcher not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = NO (librealsense not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/celestial/ext/rtabmap/build

@matlabbe
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Cannot reproduce the problem on my system (Ubuntu 16.04, ROS Kinetic). My config is below, note that CSparse is not found in a local EXTERNAL directory like in your cmake.

$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Checking for module 'eigen3'
--   Found eigen3, version 3.2.92
-- Found eigen: /usr/include/eigen3  
-- Checking for module 'flann'
--   Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- Checking for module 'libopenni2'
--   Found libopenni2, version 2.2.0.3
-- Found OpenNI2: /usr/lib/libOpenNI2.so  
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
-- Found PCL_GEOMETRY: /usr/include/pcl-1.7  
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so  
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so  
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so  
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so  
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so  
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so  
-- Could NOT find PCL_APPS (missing:  PCL_APPS_LIBRARY) 
-- Found PCL_MODELER: /usr/include/pcl-1.7  
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.7  
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.7  
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp  
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.2.0-dev;/opt/ros/kinetic/include/opencv-3.2.0-dev/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/jsoncpp;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/hdf5/openmpi;/usr/include/x86_64-linux-gnu;/usr/include/libxml2;/usr/include/python2.7;/usr/include/tcl
-- Found ZLIB: /usr/include
-- Found Freenect: /opt/ros/kinetic/include/libfreenect
-- Found freenect2: /usr/local/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found CSPARSE: /usr/include/suitesparse  
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include;/usr/local/include/gtsam/3rdparty/Eigen/
-- Found libpointmatcher: /usr/local/include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen;/usr/local/include;/home/mathieu/workspace/libpointmatcher/pointmatcher
-- Found ZED sdk: /usr/local/zed/include
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found version "8.0") 
-- Found CUDA: /usr/local/cuda/include
-- Found RealSense: /opt/ros/kinetic/include
-- Found RealSenseSlam: /opt/ros/kinetic/include
-- Found octomap: /opt/ros/kinetic/include
-- Found CPUTSDF: /usr/local/include/cpu_tsdf
-- Found libfovis: /home/mathieu/catkin_ws/src/libfovis/libfovis
-- Found libviso2: /home/mathieu/catkin_ws/src/viso2/libviso2/libviso2/src
-- Found dvo_core: /home/mathieu/catkin_ws/src/dvo_slam/dvo_core/include;/usr/include/pcl-1.7;/usr/include/eigen3;/usr/include
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.14.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++11
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = YES (License: Apache v2 and/or GPLv2)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--   With libpointmatcher      = YES (License: BSD)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = YES
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = YES (License: BSD)
--   With libfovis             = YES (License: GPLv2)
--   With libviso2             = YES (License: GPLv3)
--   With dvo_core             = YES (License: GPLv3)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/mathieu/workspace/rtabmap/build

@CelestialBoon
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Removing the EXTERNAL folder and forcing use of the /usr/include one has fixed it for me. Thanks a bunch!

@songyongkang
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where is the EXTERNAL folder

@matlabbe
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-- Found CSPARSE: /usr/local/include/EXTERNAL/csparse

What is the path of csparse on your system?

@songyongkang
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-- Found CSPARSE: /usr/local/include/EXTERNAL/csparse

What is the path of csparse on your system?

/usr/local/include/g2o/solvers/csparse

@songyongkang
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my g2o.BUILD

`package(default_visibility = ["//visibility:public"])

licenses(["notice"])

cc_library(
    name = "g2o",
    hdrs = glob([
	    "*.h",
        "**/*.h",
        "**/**/*.h",
        "**/**/**/*.h",
    ]),
    includes = [
        ".",
    ],
    linkopts = [ 
        "-L/usr/local/lib -lg2o_cli",
        "-L/usr/local/lib -lg2o_core",
        "-L/usr/local/lib -lg2o_csparse_extension",
        "-L/usr/local/lib -lg2o_ext_freeglut_minimal",
        "-L/usr/local/lib -lg2o_incremental",
        "-L/usr/local/lib -lg2o_interactive",
        "-L/usr/local/lib -lg2o_interface",
        "-L/usr/local/lib -lg2o_opengl_helper",
        "-L/usr/local/lib -lg2o_parser",
        "-L/usr/local/lib -lg2o_simulator",
        "-L/usr/local/lib -lg2o_solver_cholmod",
        "-L/usr/local/lib -lg2o_solver_csparse",
        "-L/usr/local/lib -lg2o_solver_dense",
        "-L/usr/local/lib -lg2o_solver_eigen",
        "-L/usr/local/lib -lg2o_solver_pcg",
        "-L/usr/local/lib -lg2o_solver_slam2d_linear",
        "-L/usr/local/lib -lg2o_solver_structure_only",
        "-L/usr/local/lib -lg2o_stuff",
        "-L/usr/local/lib -lg2o_types_data",
        "-L/usr/local/lib -lg2o_types_icp",
        "-L/usr/local/lib -lg2o_types_sba",
        "-L/usr/local/lib -lg2o_types_sclam2d",
        "-L/usr/local/lib -lg2o_types_sim3",
        "-L/usr/local/lib -lg2o_types_slam2d",
        "-L/usr/local/lib -lg2o_types_slam2d_addons",
        "-L/usr/local/lib -lg2o_types_slam3d",
        "-L/usr/local/lib -lg2o_types_slam3d_addons",

    ],
)

`
my WORKSPACE

#g2o

new_local_repository(
    name = "g2o",
    build_file = "third_party/g2o.BUILD",
    path = "/usr/local",
)

my g2o version g2o-20170730_git

part of my problem

bazel-out/local-dbg/bin/modules/prediction/predictor/optimal/liboptimal.a(optimal_optimizer.pic.o): In function g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)':
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:208: undefined reference to g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:213: undefined reference to cs_nfree'
bazel-out/local-dbg/bin/modules/prediction/predictor/optimal/liboptimal.a(optimal_optimizer.pic.o): In function g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::computeSymbolicDecomposition(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)': /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:250: undefined reference to cs_schol'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:265: undefined reference to cs_amd' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:281: undefined reference to cs_free'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:284: undefined reference to cs_calloc' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:285: undefined reference to cs_pinv'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:286: undefined reference to cs_symperm' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:287: undefined reference to cs_etree'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:288: undefined reference to cs_post' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:289: undefined reference to cs_counts'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:290: undefined reference to cs_free' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:291: undefined reference to cs_spfree'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:292: undefined reference to cs_malloc' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:293: undefined reference to cs_cumsum'
/usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:294: undefined reference to cs_free' /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:296: undefined reference to cs_sfree'

`

@songyongkang
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-- Found CSPARSE: /usr/local/include/EXTERNAL/csparse

What is the path of csparse on your system?

maybe use wrong g2o version?

@songyongkang
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.so: undefined symbol: _ZN3g2o17csparse_extension17cs_chol_workspaceEPK9cs_sparsePK11cs_symbolicPiPd

@songyongkang
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-- Found CSPARSE: /usr/local/include/EXTERNAL/csparse

What is the path of csparse on your system?

-- Found CSPARSE: /usr/include/suitesparse

@matlabbe
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matlabbe commented Nov 3, 2019

Is g2o building with its own csparse version? On my system, g2o installed from binaries seems built with system csparse. The cmake output of rtambap shows:

-- Found g2o: /opt/ros/melodic/include;/usr/include/suitesparse;/usr/include/suitesparse

Or to make sure rtabmap is finding the right csparse, you may modify this:

rtabmap/cmake_modules/FindG2O.cmake

Lines 1 to 5 in 179f17d

#Pre-requisites: Look for csparse
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse EXTERNAL/suitesparse EXTERNAL/csparse
PATHS "C:\\Program Files\\g2o\\include\\EXTERNAL")
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
PATHS "C:\\Program Files\\g2o\\lib")

cheers,
Mathieu

@dorianisnairod dorianisnairod mentioned this issue Jun 24, 2021
Open
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@matlabbe @Exception4U @songyongkang @CelestialBoon @jemmazhou