Building error new release

[dagata-mining]

Your last merge seems to be having issues on 20.04.06 Ubuntu at building. We used previous commit and it was working

/usr/bin/ld: /usr/local/lib/libpointmatcher.a(MatchersImpl.cpp.o): in function MatchersImpl<double>::KDTreeMatcher::init(PointMatcher<double>::DataPoints const&)': MatchersImpl.cpp:(.text._ZN12MatchersImplIdE13KDTreeMatcher4initERKN12PointMatcherIdE10DataPointsE[_ZN12MatchersImplIdE13KDTreeMatcher4initERKN12PointMatcherIdE10DataPointsE]+0x66): undefined reference to Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: /usr/local/lib/libpointmatcher.a(MatchersImpl.cpp.o): in function MatchersImpl<float>::KDTreeVarDistMatcher::init(PointMatcher<float>::DataPoints const&)': MatchersImpl.cpp:(.text._ZN12MatchersImplIfE20KDTreeVarDistMatcher4initERKN12PointMatcherIfE10DataPointsE[_ZN12MatchersImplIfE20KDTreeVarDistMatcher4initERKN12PointMatcherIfE10DataPointsE]+0x66): undefined reference to Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: /usr/local/lib/libpointmatcher.a(MatchersImpl.cpp.o): in function MatchersImpl<double>::KDTreeVarDistMatcher::init(PointMatcher<double>::DataPoints const&)': MatchersImpl.cpp:(.text._ZN12MatchersImplIdE20KDTreeVarDistMatcher4initERKN12PointMatcherIdE10DataPointsE[_ZN12MatchersImplIdE20KDTreeVarDistMatcher4initERKN12PointMatcherIdE10DataPointsE]+0x66): undefined reference to Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: /usr/local/lib/libpointmatcher.a(MatchersImpl.cpp.o): in function MatchersImpl<float>::KDTreeMatcher::init(PointMatcher<float>::DataPoints const&)': MatchersImpl.cpp:(.text._ZN12MatchersImplIfE13KDTreeMatcher4initERKN12PointMatcherIfE10DataPointsE[_ZN12MatchersImplIfE13KDTreeMatcher4initERKN12PointMatcherIfE10DataPointsE]+0x66): undefined reference to Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: /usr/local/lib/libpointmatcher.a(Saliency.cpp.o): in function TensorVoting<float>::computeKnn(PointMatcher<float>::DataPoints const&)': Saliency.cpp:(.text._ZN12TensorVotingIfE10computeKnnERKN12PointMatcherIfE10DataPointsE[_ZN12TensorVotingIfE10computeKnnERKN12PointMatcherIfE10DataPointsE]+0x8f): undefined reference to Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: /usr/local/lib/libpointmatcher.a(Saliency.cpp.o): in function TensorVoting<double>::computeKnn(PointMatcher<double>::DataPoints const&)': Saliency.cpp:(.text._ZN12TensorVotingIdE10computeKnnERKN12PointMatcherIdE10DataPointsE[_ZN12TensorVotingIdE10computeKnnERKN12PointMatcherIdE10DataPointsE]+0x8f): undefined reference to Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<double, Eigen::Matrix<double, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)'
/usr/bin/ld: CMakeFiles/runQuickTest.dir/src/MapBuilding/Odometry/IcpOdometry.cpp.o: in function KDTreeMatcherIntensity<float>::init(PointMatcher<float>::DataPoints const&)': IcpOdometry.cpp:(.text._ZN22KDTreeMatcherIntensityIfE4initERKN12PointMatcherIfE10DataPointsE[_ZN22KDTreeMatcherIntensityIfE4initERKN12PointMatcherIfE10DataPointsE]+0x152): undefined reference to Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::create(Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, Nabo::NearestNeighbourSearch<float, Eigen::Matrix<float, -1, -1, 0, -1, -1> >::SearchType, unsigned int, Nabo::Parameters const&)

[pomerlef]

@RedLeader962 it looks like libnabo is not linked. Is it on our side or it dates from a few PRs?

[RedLeader962]

@pomerlef Seems related to PR #513 and issue #514. The build system is green on Ubuntu20.04 but I suppose the libpointmatcher install script used by the build system circumvent the issue by explicitly setting LIBNABO_INSTALL_DIR and CMAKE_INSTALL_PREFIX, i.e.:

cmake -D CMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
  -D BUILD_TESTS=${BUILD_TESTS_FLAG} \
  -D GENERATE_API_DOC=${GENERATE_API_DOC_FLAG} \
  -D LIBNABO_INSTALL_DIR="${LPM_INSTALLED_LIBRARIES_PATH}/libnabo" \
  -D CMAKE_INSTALL_PREFIX="${LPM_INSTALLED_LIBRARIES_PATH}" \
  "${LPM_INSTALLED_LIBRARIES_PATH}/${LPM_LIBPOINTMATCHER_SRC_REPO_NAME}"

I'm pretty sure I encountered the same issue while implementing the build system hence this solution. I thought at the time it was maybe a local issue caused by docker but now I'm beginning to think it's a larger problem.

@dagata-mining Can you point out which commit work for you?

[dagata-mining]

Yes might be an install problem, the libpointmatcher is building, but when used in other programs its crashing.
We currently use 3464af6 in libpointmatcher and c925c47 in libnabo . We did not versionned them in our build scripts so we just got the problem today.

[Derrick1994]

I have encountered the same problem. May I ask if this issue has been resolved and if modifying the libnabo version can solve it?

[RedLeader962]

@Derrick1994 Its not solved yet. We are on the verge of proceeding to the repository ownership transfer of libnabo to the NorLab domain very soon, integrate it to our build system and fix for good this issue. In the mean time, you can either use the solution in my previous comment or use both commit mentioned by @dagata-mining.

[pomerlef]

As of today, libnabo is now hosted on Norlab's repo. We are progressing on this.

[RedLeader962]

@dagata-mining @Derrick1994 We have pushed a fix for the install issue (Ref PR #538 and PR #539). The fix is currently only available on the develop branch at the moment and we are preparing a new release which will be available in the next few day.
Thanks for flagging the issue and thanks your patience.