Undefined Reference errors in ros to opencv image converter - c++

Question

I am trying to do the ros_wiki tutorial to convert ROS images to OpenCV images, but when I try to compile my catkin workspace I get several pages of errors that all have the following form:
CMakeFiles/image_converter.dir/scripts/image_converter.cpp.o: In function `cv::String::~String()':
image_converter.cpp:(.text._ZN2cv6StringD2Ev[_ZN2cv6StringD5Ev]+0x14): undefined reference to `cv::String::deallocate()'
I've googled around a lot and found various similar problems, but those problems were all fixed by updating the CMakeLists.txt file and the package.xml file, which did not work for me.
Here is an example of one such solution - they all center around including
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )
target_link_libraries( your_target ${OpenCV_LIBS} )
in the cmakelists, but I have those already.
My C++ code:
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/mat.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <string>
#include <iostream>
const std::string wn = "OCV_window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;
public:
ImageConverter()
: it_(nh_)
{
image_sub_ = it_.subscribe("/camera/color/image_raw", 1, &ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_editor/output_image", 1);
cv::namedWindow(wn);
}
~ImageConverter()
{
cv::destroyWindow(wn);
}
void imageCb(const sensor_msgs::ImageConstPtr& incoming_message)
{
cv_bridge::CvImagePtr cvi;
try
{
cvi = cv_bridge::toCvCopy(incoming_message, sensor_msgs::image_encodings::RGB8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("CV_Bridge Exception: %s", e.what());
return;
}
cv::imshow(wn, cvi->image);
cv::waitKey(3);
image_pub_.publish(cvi->toImageMsg());
}
};
int main(int argc, char** argv)
{
ros::init(argc,argv, "Image_Converter");
ImageConverter ic;
ros::spin();
return(0);
}
My cmakelists file:
cmake_minimum_required(VERSION 2.8.3)
project(odom_reporter)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
roscpp
rospy
std_msgs
message_generation
image_transport
cv_bridge
sensor_msgs
OpenCV REQUIRED
)
add_service_files(
FILES
HMD.srv
)
catkin_package()
include_directories(
${OpenCV_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
add_executable (image_converter scripts/image_converter.cpp)
target_link_libraries (image_converter ${OpenCV_LIBS})
My package.xml file:
<?xml version="1.0"?>
<package format="2">
<name>odom_reporter</name>
<version>0.0.0</version>
<description>The odom_reporter package</description>
<maintainer email="calabrnb#mail.uc.edu">Nate Calabrese</maintainer>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>OpenCV</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>nav_msgs</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<build_export_depend>image_transport</build_export_depend>
<build_export_depend>cv_bridge</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>OpenCV</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>image_transport</exec_depend>
<exec_depend>cv_bridge</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>OpenCV</exec_depend>
<export>
</export>
</package>

Answer 1

That should work, but there's a problem: find_package() only supports finding one package per call.
You're currently trying to find two packages with it, and not finding the second one, OpenCV:
find_package(catkin REQUIRED COMPONENTS
image_transport
cv_bridge
...
)
find_package(OpenCV REQUIRED)
find_package(<package> [version] [EXACT] [QUIET] [MODULE]
[REQUIRED] [[COMPONENTS] [components...]]
[OPTIONAL_COMPONENTS components...]
[NO_POLICY_SCOPE])