cv_bridge STILL exposes internal GTest symbols from OpenCV and/or links incorrectly

[cmansley]

We closed issue #22 slightly preemptively. I still have this issue with just the cv_bridge package.

If we create a package as follows:

$ roscreate-pkg opencv_tests roscpp cv_bridge
$ cd opencv_tests
$ mkdir test
$ echo "rosbuild_add_gtest(test_opencv test/test_opencv.cpp)" >> CMakeLists.txt

and test_opencv.cpp contains

#include <gtest/gtest.h>

int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  ::testing::FLAGS_gtest_death_test_style = "threadsafe";

  return RUN_ALL_TESTS();
}

then we run make test, the test compiles, but crashes on destruction. This is because the library opencv_ts is linked incorrectly. I thought this was an opencv issue, but it seems like just a cv_bridge issue.

If we change the package by editing the manifest.xml and instead depend on image_geometry, which still depends on opencv2 the problem is not there.

Here is the comparison. With this manifest

<package>
  <description brief="opencv_tests">

     opencv_tests

  </description>
  <author>Chris Mansley</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/opencv_tests</url>
  <depend package="roscpp"/>
  <depend package="cv_bridge"/>
</package>

and this command VERBOSE=1 make tests | grep opencv_ts. I get this line:

/usr/bin/c++   -O2 -g    -L/home/mac1pal/rdr/stacks/perception/opencv_tests/lib CMakeFiles/test_opencv.dir/test/test_opencv.cpp.o  -o ../bin/test_opencv -rdynamic -L/opt/ros/groovy/lib -L/home/mac1pal/rdr/stacks/perception/opencv_tests/lib -lroscpp -l:/usr/lib/libboost_signals-mt.so -l:/usr/lib/libboost_filesystem-mt.so -lxmlrpcpp -lcv_bridge -l:/opt/ros/groovy/lib/libopencv_calib3d.so -l:/opt/ros/groovy/lib/libopencv_contrib.so -l:/opt/ros/groovy/lib/libopencv_core.so -l:/opt/ros/groovy/lib/libopencv_features2d.so -l:/opt/ros/groovy/lib/libopencv_flann.so -l:/opt/ros/groovy/lib/libopencv_gpu.so -l:/opt/ros/groovy/lib/libopencv_highgui.so -l:/opt/ros/groovy/lib/libopencv_imgproc.so -l:/opt/ros/groovy/lib/libopencv_legacy.so -l:/opt/ros/groovy/lib/libopencv_ml.so -l:/opt/ros/groovy/lib/libopencv_nonfree.so -l:/opt/ros/groovy/lib/libopencv_objdetect.so -l:/opt/ros/groovy/lib/libopencv_photo.so -l:/opt/ros/groovy/lib/libopencv_stitching.so -l:/opt/ros/groovy/lib/libopencv_superres.so -l:/opt/ros/groovy/lib/libopencv_ts.so -l:/opt/ros/groovy/lib/libopencv_video.so -l:/opt/ros/groovy/lib/libopencv_videostab.so -lrosconsole -l:/usr/lib/libboost_regex-mt.so -l:/usr/lib/liblog4cxx.so -lroscpp_serialization -lrostime -l:/usr/lib/libboost_date_time-mt.so -l:/usr/lib/libboost_system-mt.so -l:/usr/lib/libboost_thread-mt.so -lpthread -lcpp_common ../lib/libgtest.so -lpthread -Wl,-rpath,/opt/ros/groovy/lib:/home/mac1pal/rdr/stacks/perception/opencv_tests/lib 

However, with this manifest (only changing cv_bridge to image_geometry):

<package>
  <description brief="opencv_tests">

     opencv_tests

  </description>
  <author>Chris Mansley</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/opencv_tests</url>
  <depend package="roscpp"/>
  <depend package="image_geometry"/>
</package>

and this command VERBOSE=1 make tests | grep opencv_ts, grep fails to find opencv_ts in the link lines. But, other opencv libraries are correctly linked.

So, the story here is that it must be something in the cv_bridge package that is specifically adding the opencv_ts library. I don't know why this is happening.

[cmansley]

In the /opt/ros/groovy/share/cv_bridge/cmake/cv_bridgeConfig.cmake file there is an explicit list of libraries from opencv to include, which contains opencv_ts. I don't know why cv_bridge explicitly includes the opencv libraries, when the OpenCVConfig.cmake file works correctly.

There is an explicit list of opencv libraries in the image_geometry package, but opencv_ts is missing. Hrmmm.

How is that file auto-generated?

[vrabaud]

Thx for reporting: the error was that opencv_ts is added if gtest has not been find_packaged before. Which was the case here as catkin was find_packaged AFTER OpenCV. Releasing now.

[cmansley]

Thanks! Do you know what the process is for moving from shadow-fixed to ros-public? It would be great if I could have this bug fix in the regular Debian package.

[vrabaud]

Tully does that once in a while (roughly once a week) so just wait for his email on ros-users. If it's an emergency, just download the packages from here:
http://packages.ros.org/ros-shadow-fixed/ubuntu/pool/main/r/
and dpkg -i the deb.