librtabmap_core.so linker error on opencv libs

[zlacelle]

Environment is Ubuntu 16.04, ROS Kinetic, OpenCV 2.4.9. Everything was compiling, and I did a git pull to get latest, and now it's not linking.

Double-checked instructions here: https://github.com/introlab/rtabmap/wiki/Installation#ubuntu

Error:

[ 38%] Linking CXX shared library ../../../bin/librtabmap_core.so
/usr/bin/ld: cannot find -lopencv_viz
/usr/bin/ld: cannot find -lopencv_aruco
/usr/bin/ld: cannot find -lopencv_bgsegm
/usr/bin/ld: cannot find -lopencv_bioinspired
/usr/bin/ld: cannot find -lopencv_ccalib
/usr/bin/ld: cannot find -lopencv_cvv
/usr/bin/ld: cannot find -lopencv_datasets
/usr/bin/ld: cannot find -lopencv_dpm
/usr/bin/ld: cannot find -lopencv_face
/usr/bin/ld: cannot find -lopencv_fuzzy
/usr/bin/ld: cannot find -lopencv_hdf
/usr/bin/ld: cannot find -lopencv_img_hash
/usr/bin/ld: cannot find -lopencv_line_descriptor
/usr/bin/ld: cannot find -lopencv_optflow
/usr/bin/ld: cannot find -lopencv_phase_unwrapping
/usr/bin/ld: cannot find -lopencv_plot
/usr/bin/ld: cannot find -lopencv_reg
/usr/bin/ld: cannot find -lopencv_rgbd
/usr/bin/ld: cannot find -lopencv_saliency
/usr/bin/ld: cannot find -lopencv_stereo
/usr/bin/ld: cannot find -lopencv_structured_light
/usr/bin/ld: cannot find -lopencv_surface_matching
/usr/bin/ld: cannot find -lopencv_text
/usr/bin/ld: cannot find -lopencv_tracking
/usr/bin/ld: cannot find -lopencv_xfeatures2d
/usr/bin/ld: cannot find -lopencv_ximgproc
/usr/bin/ld: cannot find -lopencv_xobjdetect
/usr/bin/ld: cannot find -lopencv_xphoto
collect2: error: ld returned 1 exit status

OpenCV installed versions:

ii  libopencv                                                  3.3.1                                                 amd64        Open Computer Vision Library
ii  libopencv-core2.4v5:amd64                                  2.4.9.1+dfsg-1.5ubuntu1xqms2~xenial1                  amd64        computer vision core library
ii  libopencv-dev                                              3.3.1                                                 amd64        Development files for Open Source Computer Vision Library
ii  libopencv-highgui2.4v5:amd64                               2.4.9.1+dfsg-1.5ubuntu1xqms2~xenial1                  amd64        computer vision High-level GUI and Media I/O library
ii  libopencv-imgproc2.4v5:amd64                               2.4.9.1+dfsg-1.5ubuntu1xqms2~xenial1                  amd64        computer vision Image Processing library
ii  libopencv-objdetect2.4v5:amd64                             2.4.9.1+dfsg-1.5ubuntu1xqms2~xenial1                  amd64        computer vision Object Detection library
ii  libopencv-python                                           3.3.1                                                 amd64        Python bindings for Open Source Computer Vision Library
ii  libopencv-samples                                          3.3.1                                                 amd64        Samples for Open Source Computer Vision Library
ii  libopencv-video2.4v5:amd64                                 2.4.9.1+dfsg-1.5ubuntu1xqms2~xenial1                  amd64        computer vision Video analysis library
rc  libopencv4tegra                                            2.4.13-17-g5317135                                    amd64        Tegra optimized Open Computer Vision Library
ii  libopencv4tegra-repo                                       2.4.13-17-g5317135                                    amd64        Repository with Tegra optimized Open Source Computer Vision Library
ii  ros-kinetic-opencv3                                        3.3.1-5xenial-20180315-113535-0800                    amd64        OpenCV 3.x

Libraries:

/usr/lib/x86_64-linux-gnu$ ls libopencv*
libopencv_core.so.2.4    libopencv_highgui.so.2.4    libopencv_imgproc.so.2.4    libopencv_objdetect.so.2.4    libopencv_video.so.2.4
libopencv_core.so.2.4.9  libopencv_highgui.so.2.4.9  libopencv_imgproc.so.2.4.9  libopencv_objdetect.so.2.4.9  libopencv_video.so.2.4.9
/usr/lib$ ls libopencv*
libopencv_calib3d.so        libopencv_features2d.so        libopencv_imgcodecs.so        libopencv_objdetect.so        libopencv_stitching.so        libopencv_video.so
libopencv_calib3d.so.3.3    libopencv_features2d.so.3.3    libopencv_imgcodecs.so.3.3    libopencv_objdetect.so.3.3    libopencv_stitching.so.3.3    libopencv_video.so.3.3
libopencv_calib3d.so.3.3.1  libopencv_features2d.so.3.3.1  libopencv_imgcodecs.so.3.3.1  libopencv_objdetect.so.3.3.1  libopencv_stitching.so.3.3.1  libopencv_video.so.3.3.1
libopencv_core.so           libopencv_flann.so             libopencv_imgproc.so          libopencv_photo.so            libopencv_superres.so         libopencv_videostab.so
libopencv_core.so.3.3       libopencv_flann.so.3.3         libopencv_imgproc.so.3.3      libopencv_photo.so.3.3        libopencv_superres.so.3.3     libopencv_videostab.so.3.3
libopencv_core.so.3.3.1     libopencv_flann.so.3.3.1       libopencv_imgproc.so.3.3.1    libopencv_photo.so.3.3.1      libopencv_superres.so.3.3.1   libopencv_videostab.so.3.3.1
libopencv_dnn.so            libopencv_highgui.so           libopencv_ml.so               libopencv_shape.so            libopencv_videoio.so
libopencv_dnn.so.3.3        libopencv_highgui.so.3.3       libopencv_ml.so.3.3           libopencv_shape.so.3.3        libopencv_videoio.so.3.3
libopencv_dnn.so.3.3.1      libopencv_highgui.so.3.3.1     libopencv_ml.so.3.3.1         libopencv_shape.so.3.3.1      libopencv_videoio.so.3.3.1

[matlabbe]

Hi,

If you updated the git after a previous compilation and that the system libraries have been also changed, I suggest to remove the CMakeCache.txt or everything in the build directory before recompiling. This will make sure cmake is adding the right libraries and includes to compilation.

cheers,
Mathieu

[zlacelle]

Huh, thought I tried that but it seems to have fixed the problem. Thanks you!