Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL) X2

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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby davidgitz » Mon Feb 03, 2014 1:07 am

I ended up getting the Xtion Pro camera and your examples work fine on the Odroid. However I'm having difficulties getting the images to be sent over ROS.
murrman wrote:Another thing you can try is to pass the depth and RGB images from OpenNI as ROS messages using cv_bridge.

Do you have any advice for this? I looked through the cv_bridge tutorial and it really doesn't help with explaining on how to convert a opencv image to a ros publisher, except for this:
Code: Select all
class CvImage
{
  sensor_msgs::ImagePtr toImageMsg() const;

  // Overload mainly intended for aggregate messages that contain
  // a sensor_msgs::Image as a member.
  void toImageMsg(sensor_msgs::Image& ros_image) const;
};

Which I don't really understand how to implement. Or is there a roslaunch file for the xtion camera? If possible could you perhaps post some code that you've written, since it seems that for at least your application you've solved this problem.

Thanks!
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby murrman » Tue Feb 04, 2014 9:55 am

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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby Digimaster » Thu Feb 06, 2014 8:18 pm

Hi, is there any tricks for kernel rebuild with right config for this edition?
Do I need to clone this custom kernel from a 'special' git hub?
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby matej » Mon Mar 31, 2014 12:09 am

Hi,
I new in working with ODROID (or any ARM).
it is posible to run rgbdslam on this system?
I have ODROID X2 and ASUS Xtion Pro Live.
Any tutorial will be nice to read :)
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby murrman » Thu Apr 03, 2014 1:38 am

I'm not sure about rgbd slam, since I used a built-from source version of PCL (NOT the ROS version of PCL). ROS versions starting with Hydro shouldn't have trouble with this, but Groovy might.
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby g.gregory » Mon May 05, 2014 11:28 pm

Hi murrman,

I'm trying to install the ROS package ar_track_alvar. But this depends on pcl-ros package. Do you think I should be able to install this along side the non-ROS PCL you have installed?

I have tried compiling pcl-ros from source but am running into all sorts of errors. I think its potentially to do with the sensor_msg libary
Code: Select all
PointCloud2’ is not a member of ‘sensor_msgs’
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TinGoose » Wed May 07, 2014 9:45 pm

Seems like I've managed to build deb package for libopenni2/libopenni2-dev. I would publish it when I check everything is ok. Used OpenNI2 sources from https://github.com/hcw70/OpenNI2 Building is done using debuild command.
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Sun Jun 15, 2014 12:53 am

Hi @murrman,

By @robroy recommendation, I'm going to post a problem here, that I already verified too in your Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL) for X2. Can you please check this http://forum.odroid.com/viewtopic.php?f=77&t=5222&p=42315#p42315 topic? It's about catkin_make the rgbdslam_v2 package. Have done this in Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL) in my Odroid-X2 and in Lubuntu 13.04 Code Monkey in my Odroid-U3. I installed Hydro packages through apt-get.

Thank you! Best regards
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby murrman » Mon Jun 16, 2014 4:42 am

TSC wrote:Hi @murrman,

By @robroy recommendation, I'm going to post a problem here, that I already verified too in your Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL) for X2. Can you please check this http://forum.odroid.com/viewtopic.php?f=77&t=5222&p=42315#p42315 topic? It's about catkin_make the rgbdslam_v2 package. Have done this in Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL) in my Odroid-X2 and in Lubuntu 13.04 Code Monkey in my Odroid-U3. I installed Hydro packages through apt-get.

Thank you! Best regards


It looks like you could fix it by patching graph_manager.cpp. Eigen is very particular about mixing types, and the errors it returns can be a bit misleading. The first error from your post...

Code: Select all
In file included from /usr/include/eigen3/Eigen/Core:293:0,
                 from /home/linaro/AIMAVProject_ws/src/rgbdslam_v2/src/node.h:29,
                 from /home/linaro/AIMAVProject_ws/src/rgbdslam_v2/src/graph_manager.h:30,
                 from /home/linaro/AIMAVProject_ws/src/rgbdslam_v2/src/graph_manager.cpp:22:
/usr/include/eigen3/Eigen/src/Core/Matrix.h: In constructor ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 4, 4>, _Scalar = float, int _Rows = 4, int _Cols = 4, int _Options = 1, int _MaxRows = 4, int _MaxCols = 4]’:
/home/linaro/AIMAVProject_ws/src/rgbdslam_v2/src/misc.h:43:65:   instantiated from ‘QMatrix4x4 eigenTF2QMatrix(const T&) [with T = Eigen::Transform<double, 3, 1>]’
/home/linaro/AIMAVProject_ws/src/rgbdslam_v2/src/graph_manager.cpp:658:65:   instantiated from here
/usr/include/eigen3/Eigen/src/Core/Matrix.h:290:7: error: static assertion failed: "YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY"


... would lead you to believe that the problem was inside Eigen, in Matrix.h. The problem is probably with graph_manager.cpp, line 658...

curr_motion_estimate = eigenTF2QMatrix(odom_edge.transform);

cur_motion_estimate is a QMatrix4x4. I would start by making sure that eigenTF2QMatrix explicitly returns a QMatrix4x4. Also, make sure that odom_edge.transform explicitly matches the type expected by eigenTF2QMatrix. As a quick check, you could just comment out that line or assign a constant QMatrix4x4 to cur_motion_estimate to see if the error goes away. If it does, you will know the problem is with the return type or argument type in eigenTF2QMatrix.

Hope that helps.
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Tue Jun 24, 2014 3:38 am

Hi @murrman,

Thanks for the reply. I was able to solve the problem using some code change (cause qreal is type float in ARM). Also resolver some other problems related to openGL and now the program works.

But now, I need to get data from the Xtion Pro Live camera. I was able to install openni2_camera and openni_launch (also rgbd_launch) in my ws. I installed both OpenNI and OpenNI2 drivers on my system, using the repos in Git. I followed some tutorials to setup them to run in Odroid, and lsusb and dmesg commands both recognize my camera.

But running roslaunch openni2_launch openni2.launch gives me the following log:

Code: Select all
linaro@linaro-ubuntu-desktop:~/AIMAVProject_ws$ roslaunch openni2_launch openni2.launch
... logging to /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/roslaunch-linaro-ubuntu-desktop-21534.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://linaro-ubuntu-desktop:52460/

SUMMARY
========

PARAMETERS
 * /camera/depth/rectify_depth/interpolation
 * /camera/depth/rectify_depth_raw/interpolation
 * /camera/driver/auto_exposure
 * /camera/driver/auto_white_balance
 * /camera/driver/color_depth_synchronization
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /rosdistro
 * /rosversion

NODES
  /camera/ir/
    rectify_ir (nodelet/nodelet)
  /camera/
    driver (nodelet/nodelet)
    points_xyz_depth_rgb (nodelet/nodelet)
    points_xyzrgb_depth_rgb (nodelet/nodelet)
  /camera/depth/
    rectify_depth (nodelet/nodelet)
    rectify_depth_raw (nodelet/nodelet)
  /
    camera_base_link (tf/static_transform_publisher)
    camera_base_link1 (tf/static_transform_publisher)
    camera_base_link2 (tf/static_transform_publisher)
    camera_base_link3 (tf/static_transform_publisher)
    camera_nodelet_manager (nodelet/nodelet)
  /camera/rgb/
    rectify_color (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [21549]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to da84f536-fb02-11e3-a17d-4694a7777b07
process[rosout-1]: started with pid [21562]
started core service [/rosout]
process[camera_nodelet_manager-2]: started with pid [21574]
process[camera/driver-3]: started with pid [21578]
[ INFO] [1403547544.511301325]: Initializing nodelet with 4 worker threads.
process[camera/ir/rectify_ir-4]: started with pid [21613]
process[camera/rgb/rectify_color-5]: started with pid [21629]
Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/points_xyzrgb_depth_rgb-6]: started with pid [21645]
[ INFO] [1403547545.110243755]: Device "1d27/0601@1/8" with serial number "1207110008" connected

Warning: USB events thread - failed to set priority. This might cause loss of data...
process[camera/points_xyz_depth_rgb-7]: started with pid [21671]
process[camera/depth/rectify_depth-8]: started with pid [21685]
process[camera/depth/rectify_depth_raw-9]: started with pid [21716]
process[camera_base_link-10]: started with pid [21751]
process[camera_base_link1-11]: started with pid [21780]
process[camera_base_link2-12]: started with pid [21794]
process[camera_base_link3-13]: started with pid [21808]
[ERROR] [1403547546.791687651]: Failed to load nodelet [/camera/ir/rectify_ir] of type [image_proc/rectify]: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[FATAL] [1403547546.792204691]: Service call failed!
[ERROR] [1403547546.792787231]: Failed to load nodelet [/camera/rgb/rectify_color] of type [image_proc/rectify]: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[FATAL] [1403547546.793233979]: Service call failed!
[ERROR] [1403547546.793350020]: Failed to load nodelet [/camera/points_xyzrgb_depth_rgb] of type [depth_image_proc/point_cloud_xyzrgb]: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[FATAL] [1403547546.793909851]: Service call failed!
[ERROR] [1403547546.794389725]: Failed to load nodelet [/camera/points_xyz_depth_rgb] of type [depth_image_proc/point_cloud_xyz]: According to the loaded plugin descriptions the class depth_image_proc/point_cloud_xyz with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[FATAL] [1403547546.794870764]: Service call failed!
[ERROR] [1403547546.794965847]: Failed to load nodelet [/camera/depth/rectify_depth] of type [image_proc/rectify]: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[ERROR] [1403547546.795440387]: Failed to load nodelet [/camera/depth/rectify_depth_raw] of type [image_proc/rectify]: According to the loaded plugin descriptions the class image_proc/rectify with base class type nodelet::Nodelet does not exist. Declared types are  octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/ExtractIndices pcl/NodeletDEMUX pcl/NodeletMUX pcl/PCDReader pcl/PCDWriter pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/ProjectInliers pcl/StatisticalOutlierRemoval pcl/VoxelGrid
[FATAL] [1403547546.795935719]: Service call failed!
[FATAL] [1403547546.796099176]: Service call failed!
[camera/ir/rectify_ir-4] process has died [pid 21613, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify /camera_nodelet_manager image_mono:=image __name:=rectify_ir __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-ir-rectify_ir-4.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-ir-rectify_ir-4*.log
[camera/rgb/rectify_color-5] process has died [pid 21629, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify /camera_nodelet_manager image_mono:=image __name:=rectify_color __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-rgb-rectify_color-5.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-rgb-rectify_color-5*.log
[camera/points_xyzrgb_depth_rgb-6] process has died [pid 21645, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb /camera_nodelet_manager rgb/image_rect_color:=rgb/image_rect rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth/image_rect_raw depth_registered/points:=depth/points_xyzrgb __name:=points_xyzrgb_depth_rgb __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-points_xyzrgb_depth_rgb-6.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-points_xyzrgb_depth_rgb-6*.log
[camera/points_xyz_depth_rgb-7] process has died [pid 21671, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz /camera_nodelet_manager image_rect:=depth/image_rect_raw points:=depth/points_xyz __name:=points_xyz_depth_rgb __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-points_xyz_depth_rgb-7.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-points_xyz_depth_rgb-7*.log
[camera/depth/rectify_depth-8] process has died [pid 21685, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify /camera_nodelet_manager image_mono:=image image_rect:=image_rect __name:=rectify_depth __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-depth-rectify_depth-8.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-depth-rectify_depth-8*.log
[camera/depth/rectify_depth_raw-9] process has died [pid 21716, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify /camera_nodelet_manager image_mono:=image_raw image_rect:=image_rect_raw __name:=rectify_depth_raw __log:=/home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-depth-rectify_depth_raw-9.log].
log file: /home/linaro/.ros/log/da84f536-fb02-11e3-a17d-4694a7777b07/camera-depth-rectify_depth_raw-9*.log

Any idea how to solve this?

My .bashrc config is the following:

Code: Select all
source /opt/ros/hydro/setup.bash
source ~/AIMAVProject_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/AIMAVProject_ws/:${ROS_PACKAGE_PATH}

Can't seem to find any good explanation to this since the driver is already installed.

Any tips?
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Tue Jun 24, 2014 10:22 pm

Update: Problem solved by installing image_proc packages ;)

Now, another issue: I would like to run rviz just to test purposes. I only get errors related to ogre when doing catkin_make. Here they go:

Code: Select all
Linking CXX executable /home/linaro/AIMAVProject_ws/devel/lib/rviz/rviz
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setSceneBlending(Ogre::SceneBlendType)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::clone(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::NEGATIVE_UNIT_Z'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::UNIT_Y'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::VertexData::~VertexData()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Matrix3::IDENTITY'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getCameraToViewportRay(float, float) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::setRenderQueueGroup(unsigned char)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SceneNode::getParentSceneNode() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::getRenderSystem()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::VertexElement::getTypeSize(Ogre::VertexElementType)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getDarkCapBounds(Ogre::Light const&, float) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::LogManager::LogManager()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Exception::Exception(int, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MemoryDataStream::MemoryDataStream(void*, unsigned int, bool, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::createRenderWindow(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int, bool, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::STLAllocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > > const*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::HardwareBufferManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::WireBoundingBox::WireBoundingBox()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setLightingEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::Inverse() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setDiffuse(float, float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ColourValue::Black'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshManager::createManual(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::ManualResourceLoader*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::getBestTechnique(unsigned short, Ogre::Renderable const*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::renderOneFrame()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::isVisible() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Image::~Image()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::TextureUnitState::setTextureName(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::TextureType)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Rectangle2D::Rectangle2D(bool, Ogre::HardwareBuffer::Usage)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::RenderQueue::addRenderable(Ogre::Renderable*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::normalise()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::loadPlugin(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getVisible() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::setRenderSystem(Ogre::RenderSystem*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::initialise(bool, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setShininess(float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::setRenderQueueGroupAndPriority(unsigned char, unsigned short)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getWorldBoundingSphere(bool) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::detachRenderTarget(Ogre::RenderTarget*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Exception::getFullDescription() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MaterialManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::getDiffuse() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::Root(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::setOrientation(Ogre::Quaternion const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setDepthBias(float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::_fireFrameRenderingQueued()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::getActualWidth() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setSelfIllumination(float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::lookAt(float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ShadowCaster::updateEdgeListLightFacing(Ogre::EdgeData*, Ogre::Vector4 const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Light::setDirection(Ogre::Vector3 const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setShadingMode(Ogre::ShadeOptions)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::getMaterial() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::visitRenderables(Ogre::Renderable::Visitor*, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::setOverlaysEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Matrix3::operator*(Ogre::Vector3 const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Matrix4::IDENTITY'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::FromAngleAxis(Ogre::Radian const&, Ogre::Vector3 const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setSelfIllumination(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::WireBoundingBox::setupBoundingBox(Ogre::AxisAlignedBox const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getShadowVolumeRenderableIterator(Ogre::ShadowTechnique, Ogre::Light const*, Ogre::HardwareIndexBufferSharedPtr*, bool, float, unsigned long)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SubEntity::setMaterial(Ogre::MaterialPtr const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::~SimpleRenderable()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `vtable for Assimp::IOSystem'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Mesh::buildEdgeList()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::_fireFrameEnded()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ResourceGroupManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Math::fDeg2Rad'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::setMaterial(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::UNIT_Z'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshSerializer::MeshSerializer()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Entity::getNumSubEntities() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::queryLights() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::_notifyCurrentCamera(Ogre::Camera*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setColourWriteEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::getCullingMode() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Mesh::_setBoundingSphereRadius(float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::getUserAny() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ResourceGroupManager::addResourceLocation(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::NedPoolingImpl::deallocBytes(void*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Math::TWO_PI'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::getUserAny(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getCameraToViewportRay(float, float, Ogre::Ray*) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setDepthWriteEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::getCamera() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::UserObjectBindings()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Node::getName() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::_fireFrameStarted()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::setBoundingBox(Ogre::AxisAlignedBox const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Math::intersects(Ogre::Ray const&, Ogre::Plane const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setAmbient(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getDerivedPosition() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::UNIT_SCALE'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setAmbient(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Image::load(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::_notifyAttached(Ogre::Node*, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `vtable for Ogre::MeshPtr'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Matrix4::ZERO'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::BillboardChain::Element::Element()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Entity::setMaterialName(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::destroySceneManager(Ogre::SceneManager*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::getBoundingBox() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::_notifyMoved()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getParentNode() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SubMesh::setMaterialName(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setSpecular(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::~MovableObject()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ManualObject::ManualObject(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getLightCapBounds() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::setUserAny(Ogre::Any const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::setPosition(Ogre::Vector3 const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::getTechnique(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Math::PI'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::getRenderOperation(Ogre::RenderOperation&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::createSceneManager(unsigned short, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setDiffuse(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::FontManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::getAvailableRenderers()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::getSceneManagerIterator()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ResourceGroupManager::initialiseAllResourceGroups()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::~Root()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::StringUtil::BLANK'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::setPosition(float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Assimp::IOSystem'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::operator*(Ogre::Quaternion const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::setDimensions(float, float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::convertColourValue(Ogre::ColourValue const&, unsigned int*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::ToRotationMatrix(Ogre::Matrix3&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Exception::getNumber() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::UNIT_X'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::setUserAny(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::Any const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::getTechnique(unsigned short)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::IndexData::~IndexData()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `non-virtual thunk to Ogre::SimpleRenderable::getRenderOperation(Ogre::RenderOperation&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ShadowCaster::extrudeBounds(Ogre::AxisAlignedBox&, Ogre::Vector4 const&, float) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::getSingletonPtr()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Ogre::MovableObject'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ResourceGroupManager::AUTODETECT_RESOURCE_GROUP_NAME'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setDepthCheckEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshSerializer::importMesh(Ogre::SharedPtr<Ogre::DataStream>&, Ogre::Mesh*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Image::load(Ogre::SharedPtr<Ogre::DataStream>&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::getPass(unsigned short)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Log::addListener(Ogre::LogListener*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::createTextureUnitState()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::setClearEveryFrame(bool, unsigned int)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Image::Image()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::SimpleRenderable()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::RenderQueue::addRenderable(Ogre::Renderable*, unsigned char, unsigned short)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::RenderQueue::clear(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Matrix3::operator*(Ogre::Matrix3 const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::setBackgroundColour(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::setSceneBlending(Ogre::SceneBlendType)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::setLightMask(unsigned int)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setAmbient(float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::isInScene() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MaterialManager::getSingletonPtr()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getPointExtrusionDistance(Ogre::Light const*) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ColourValue::operator!=(Ogre::ColourValue const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Ogre::Node'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::getNumPasses() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Entity::getSubEntity(unsigned int) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::LogManager::getSingletonPtr()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getWorldBoundingBox(bool) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::detachFromParent()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::removeFrameListener(Ogre::FrameListener*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::isAttached() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshSerializer::~MeshSerializer()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Rectangle2D::setCorners(float, float, float, float, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Root::addFrameListener(Ogre::FrameListener*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::getMovableType() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::HighLevelGpuProgramManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `vtable for Ogre::Exception'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::_getParentNodeFullTransform() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::NedPoolingImpl::allocBytes(unsigned int, char const*, int, char const*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::IDENTITY'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Image::loadRawData(Ogre::SharedPtr<Ogre::DataStream>&, unsigned int, unsigned int, unsigned int, Ogre::PixelFormat, unsigned int, unsigned int)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getDerivedOrientation() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `non-virtual thunk to Ogre::SimpleRenderable::getMaterial() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::getActualHeight() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getTypeFlags() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::UserObjectBindings::~UserObjectBindings()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Vector3::ZERO'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::TextureManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SubEntity::setMaterialName(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Light::setType(Ogre::Light::LightTypes)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::setAmbient(float, float, float)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::MovableObject()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::setVisible(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Ogre::SimpleRenderable'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Technique::setLightingEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Mesh::createSubMesh()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getRenderQueueGroup() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Quaternion::operator*(Ogre::Vector3 const&) const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::PixelUtil::getMemorySize(unsigned int, unsigned int, unsigned int, Ogre::PixelFormat)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getSceneManager() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setDiffuse(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::TextureUnitState::setTextureFiltering(Ogre::TextureFilterOptions)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setCullingMode(Ogre::CullingMode)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::_updateRenderQueue(Ogre::RenderQueue*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::getParentSceneNode() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::GpuProgramParameters::_writeRawConstant(unsigned int, Ogre::Vector4 const&, unsigned int)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Camera::getDerivedDirection() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MeshPtr::MeshPtr(Ogre::SharedPtr<Ogre::Resource> const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SubEntity::getMaterialName() const'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Mesh::_setBounds(Ogre::AxisAlignedBox const&, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::ShadowCaster::generateShadowVolume(Ogre::EdgeData*, Ogre::HardwareIndexBufferSharedPtr const&, Ogre::Light const*, std::vector<Ogre::ShadowRenderable*, Ogre::STLAllocator<Ogre::ShadowRenderable*, Ogre::CategorisedAllocPolicy<(Ogre::MemoryCategory)0> > >&, unsigned long)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setDepthWriteEnabled(bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Entity::setMaterial(Ogre::MaterialPtr const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::LogManager::createLog(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, bool, bool)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Ogre::SceneNode'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::VertexData::VertexData(Ogre::HardwareBufferManagerBase*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Viewport::setCamera(Ogre::Camera*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::SimpleRenderable::setRenderOperation(Ogre::RenderOperation const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `typeinfo for Ogre::Exception'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Material::setSceneBlending(Ogre::SceneBlendType)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::GpuProgramManager::getSingleton()'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Exception::Exception(int, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, long)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Light::setDiffuseColour(Ogre::ColourValue const&)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::MovableObject::_notifyCurrentCamera(Ogre::Camera*)'
    /home/linaro/AIMAVProject_ws/devel/lib/librviz.so: undefined reference to `Ogre::Pass::setDiffuse(float, float, float, float)'
    collect2: ld returned 1 exit status
    make[2]: *** [/home/linaro/AIMAVProject_ws/devel/lib/rviz/rviz] Error 1
    make[1]: *** [rviz/src/rviz/CMakeFiles/executable.dir/all] Error 2
    make: *** [all] Error 2
    make: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!
    Invoking "make" failed


I have ogre installed by debian packages, namely libogre-1.7.4, libogre-1.7.4-dbg, libogre-dev, libogre-perl and ogre-utils. Is there something missing here? Any tips?

Thanks in advance! Best regards
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Thu Jun 26, 2014 3:37 am

Sorry for multi-posting, but there's another thing I want to get resolved. I'm running rgbdslam GUI and I get the following log:

Code: Select all
libEGL warning: DRI2: failed to authenticate
QGLWidget::renderText is not supported under OpenGL/ES


I already used Odroid Tools from @mdjr so to update the kernel and the Mali drivers but I still get the up messages. I know the second one doesn't have a direct connection to this, but the first one does.

Any help?
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby memeka » Thu Jun 26, 2014 8:14 am

what's the output when you run es2gears ?

edit: also it's possible EGL work fine, the first is a warning not an error; second is QT saying it can't do some stuff in EGL (that can probably do e.g. in GL)
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Thu Jun 26, 2014 10:27 pm

@memeka thanks for the answer!

memeka wrote:what's the output when you run es2gears ?

The output is the following:
Code: Select all
linaro@linaro-ubuntu-desktop:~$ es2gears
libEGL warning: DRI2: failed to authenticate
EGL_VERSION = 1.4 (DRI2)
vertex shader info:
fragment shader info:
info:
282 frames in 5.0 seconds = 56.299 FPS
274 frames in 5.0 seconds = 54.669 FPS
278 frames in 5.0 seconds = 55.456 FPS
280 frames in 5.0 seconds = 55.888 FPS
277 frames in 5.0 seconds = 55.212 FPS
266 frames in 5.0 seconds = 53.073 FPS
263 frames in 5.0 seconds = 52.568 FPS
283 frames in 5.0 seconds = 56.476 FPS
285 frames in 5.0 seconds = 56.954 FPS
285 frames in 5.0 seconds = 56.920 FPS


edit: also it's possible EGL work fine, the first is a warning not an error; second is QT saying it can't do some stuff in EGL (that can probably do e.g. in GL)

Do you have a tip on how to correct this? This error is probably not letting me get the image data I pretend in the ROS package I'm running.

Thanks in advance!
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby memeka » Fri Jun 27, 2014 7:20 am

you can see from the es2gears output that EGL is not working with hardware acceleration.

you need to properly install the mali drivers

see my output:
Code: Select all
$ es2gears
EGL_VERSION = 1.4 Linux-r4p0-00rel0
vertex shader info:
fragment shader info:
info:
1285 frames in 5.0 seconds = 256.897 FPS
1287 frames in 5.0 seconds = 257.246 FPS
1286 frames in 5.0 seconds = 257.149 FPS
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Fri Jun 27, 2014 7:28 am

memeka wrote:you can see from the es2gears output that EGL is not working with hardware acceleration.

you need to properly install the mali drivers

see my output:
Code: Select all
$ es2gears
EGL_VERSION = 1.4 Linux-r4p0-00rel0
vertex shader info:
fragment shader info:
info:
1285 frames in 5.0 seconds = 256.897 FPS
1287 frames in 5.0 seconds = 257.246 FPS
1286 frames in 5.0 seconds = 257.149 FPS


I already used https://github.com/mdrjr/odroid-utility from mdjr so I was hoping that it was already installed :S
Any tips on getting it correctly installed?

Thanks!
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby memeka » Fri Jun 27, 2014 7:43 am

the procedure is in one of the magazines
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Fri Jun 27, 2014 7:50 am

memeka wrote:the procedure is in one of the magazines


Can you point me out wich one? Thanks!
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby TSC » Fri Jun 27, 2014 7:56 am

TSC wrote:
memeka wrote:the procedure is in one of the magazines


Can you point me out wich one? Thanks!


Forget it! I found it! It's in May edition, page 13!

Thanks anyway. I will give it a try and will let you know of the result.
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby eduard626 » Wed Nov 19, 2014 8:50 pm

Hi there,

Has anyone experience problems with the WiFi module. I just installed the system in the Odroid-U3 and the wifi module doesn't work. I can see it by doing "lsusb" but it wont work. I have tried changing the usb port but I've got nothing. Can someone help me? Thanks.
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Re: Ubuntu 12.11 Robotics Edition v2 (ROS+OpenCV+OpenNI+PCL)

Unread postby meveric » Wed Nov 19, 2014 10:23 pm

Probably an issue with the Kernel version.
If it's still using the old 3.0.75 Kernel then the WiFi Module is not supported with that Kernel. (Check with uname -r)
Donate to support my work on the ODROID GameStation Turbo Image for U2/U3 XU3/XU4 X2 X C1 as well as many other releases.
Check out the Games and Emulators section to find some of my work or check the files in my repository to find the software i build for ODROIDs.
If you want to add my repository to your image read my HOWTO integrate my repo into your image.
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