undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
CMakeFiles/ros_exploration.dir/src/seg_fcn.cpp.o:(.data.rel.ro._ZTVN3pcl6search6KdTreeINS_8PointXYZENS_11KdTreeFLANNIS2_N5flann9L2_SimpleIfEEEEEE[_ZTVN3pcl6search6KdTreeINS_8PointXYZENS_11KdTreeFLANNIS2_N5flann9L2_SimpleIfEEEEEE]+0x20): undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
CMakeFiles/ros_exploration.dir/src/seg_fcn.cpp.o:(.data.rel.ro._ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE[_ZTVN3pcl6search17OrganizedNeighborINS_8PointXYZEEE]+0x20): undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
cmake_minimum_required(VERSION 2.4.6)
set(OpenCV_DIR "/usr/local/opencv-2.4.9/share/OpenCV")
include_directories("/usr/local/opencv-2.4.9/include")
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
find_package(Qt4 COMPONENTS QtCore QtGui)
find_package(OpenCV 2.4.9 REQUIRED)
find_package(Boost COMPONENTS system REQUIRED)
find_package(PCL 1.7 REQUIRED)
INCLUDE(${QT_USE_FILE})
ADD_DEFINITIONS(${QT_DEFINITIONS})
rosbuild_init()
set(qt_srcs
src/low_pass_filter.cpp
src/pid_controller.cpp
src/seg_fcn.cpp
src/rrt.cpp
src/potentialfield.cpp
src/viewer.cpp
src/listnerthr.cpp
src/planning.cpp
src/captureviewer.cpp
src/frontier.cpp
src/prm.cpp
set(qt_hdrs
include/low_pass_filter.h
include/pid_controller.h
include/seg_fcn.h
include/rrt.h
include/potentialfield.h
include/viewer.h
include/listnerthr.h
include/planning.h
include/CreatBuffer.h
include/captureviewer.h
include/frontier.h
include/prm.h
qt4_automoc(${qt_srcs})
QT4_WRAP_CPP(qt_moc_srcs ${qt_hdrs})
QT4_WRAP_UI(uis_h src/viewer.ui)
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#set(ROS_BUILD_TYPE Debug)
#set(CMAKE_BUILD_TYPE Debug)
rosbuild_add_executable(ros_exploration src/main.cpp ${uis_h} ${qt_srcs} ${qt_hdrs} ${qt_moc_srcs})
target_link_libraries(ros_exploration
${QT_LIBRARIES}
${PCL_LIBRARIES}
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
libvtkCommon.so
libvtkFiltering.so libvtkWidgets.so libvtksys.so libQVTK.so libvtkQtChart.so libvtkViews.so
libvtkRendering.so libvtkGraphics.so libvtkImaging.so libvtkIO.so libvtkDICOMParser.so libvtkmetaio.so
libvtkexoIIc.so libvtkftgl.so libvtkHybrid.so
any clues or suggestions would be appreciated.
The usual reason for linking errors:
not actually linking libraries. You're invoking target_link_libraries(ros_exploration ... ${PCL_LIBRARIES} ...) so that theory falls through.
You're instantiating a class with a type that is not instantiated during precompilation. In version 1.7.0, pcl::search::Search is precompiled with all point types, so that theory also falls through.
Someone forgot to implement getName, not the case since the method is implemented in the corresponding .hpp.
The only thing I see which flags my attention is this cxx11 abi message. Not sure exactly what you're doing here but I suspect it should not be a problem.
Try first to manually read the symbols from the library and look for pcl::search::Search<pcl::PointXYZ>::getName() just to make sure it is there. In linux this can be achieved using
$ readelf -Ws libpcl_search.so | c++filt | grep 'pcl::search::Search<pcl::PointXYZ>::getName'
16645: 000000000039b652 18 FUNC WEAK DEFAULT 12 pcl::search::Search<pcl::PointXYZ>::getName() const
14170: 000000000039b652 18 FUNC WEAK DEFAULT 12 pcl::search::Search<pcl::PointXYZ>::getName() const
If it is there, then the last two options are excluded. It means linking is not happening properly.
Edit: last case scenario we should consider symbol visibility problems, but let's cross that bridge once we reach it.
I may had the same issue. That's why I document my observations here.
Linker output
CMakeFiles/octree-demo.dir/octree.cpp.o:(.data.rel.ro._ZTVN3pcl6search6OctreeINS_8PointXYZENS_6octree27OctreeContainerPointIndicesENS3_20OctreeContainerEmptyENS3_10OctreeBaseIS4_S5_EEEE[_ZTVN3pcl6search6OctreeINS_8PointXYZENS_6octree27OctreeContainerPointIndicesENS3_20OctreeContainerEmptyENS3_10OctreeBaseIS4_S5_EEEE]+0x20): undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
CMakeFiles/octree-demo.dir/octree.cpp.o:(.data.rel.ro._ZTVN3pcl6search6SearchINS_8PointXYZEEE[_ZTVN3pcl6search6SearchINS_8PointXYZEEE]+0x20): undefined reference to `pcl::search::Search<pcl::PointXYZ>::getName[abi:cxx11]() const'
Setup
Ubuntu Xenial (ubuntu:xenial Docker)
libpcl-1.7 (provided by libpcl-dev)
Clang 3.8.0 (provided by clang)
Interestingly, this only occurs when building with clang (see travis jobs for gcc and clang with the same build options)
Using PCL_INSTANTIATE as proposed here 'solved it' (as in 'I have no idea what I am doing').
For the sake of completeness: here is the output of @SergioRAgostinho 's suggested command:
readelf -Ws /usr/lib/x86_64-linux-gnu/libpcl_search.so | c++filt | grep 'pcl::search::Search<pcl::PointXYZ>::getName'
3326: 00000000000c5080 5 FUNC WEAK DEFAULT 11 pcl::search::Search<pcl::PointXYZ>::getName() const
@taketwo: You are completely right. Including <pcl/search/impl/search.hpp> is enough. Thank you for your feedback.
It's effective for me.
I had the same problem, #include <pcl/search/impl/search.hpp> solved the compiling problem. but at run time it gives this error:
undefined symbol: _ZNK3pcl6search6SearchINS_11PointXYZRGBEE7getNameB5cxx11Ev
Setting the -Wabi=11 flag to prevent ABI warnings has the side-effect of putting certain calls into the CXX11 ABI standard which causes link errors due to cxx11-suffixed symbols. This change prevents CXX11 whilst keeping the warnings suppressed.
This is related to: PointCloudLibrary#2406
I believe this problem comes from this line which was added to suppress ABI-related warnings. Unfortunately it means that certain functions are set to the CXX11 standard which results in a distinct function call signature so the build fails at the link stage.
My solution was to add the following line somewhere towards the beginning of CMakeLists.txt:
add_definitions(-D_GLIBCXX_USE_CXX11_ABI=0)
I've put this into a pull request.
@taketwo: You are completely right. Including <pcl/search/impl/search.hpp> is enough. Thank you for your feedback.
he saved my time and whole day effort. Thank you
