LinuxQuestions.org - [SOLVED] libcvd configure script can't find V4L2

First, some information about my system:
OS: Ubuntu Linux 11.04 (specifically, lubuntu)

Code:

$ uname -a

Linux jabsys 2.6.38-11-generic #50-Ubuntu SMP Mon Sep 12 21:18:14 UTC 2011 i686 i686 i386 GNU/Linux

Now onto my problem:
I am trying to build a Linux implementation of the Parallel Tracking And Mapping (PTAM) software that I obtained here for my research.

I followed the installation instructions in the PTAM README file to ensure that all dependencies are installed. I got the following versions of three dependencies to ensure compatibility, as suggested in the PTAM README file

Code:

cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/toon co -D "Mon May 11 16:29:26 BST 2009" TooN

cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/libcvd co -D "Mon May 11 16:29:26 BST 2009" libcvd

cvs -z3 -d:pserver:anonymous@cvs.savannah.nongnu.org:/sources/libcvd co -D "Mon May 11 16:29:26 BST 2009" gvars3

When I try to build the PTAM software, I get the following:

Code:

$ sudo make

g++ -o PTAM main.o GLWindow2.o GLWindowMenu.o VideoSource_Linux_V4L.o System.o ATANCamera.o KeyFrame.o MapPoint.o Map.o SmallBlurryImage.o ShiTomasi.o HomographyInit.o MapMaker.o Bundle.o PatchFinder.o Relocaliser.o MiniPatch.o MapViewer.o ARDriver.o EyeGame.o Tracker.o -L MY_CUSTOM_LINK_PATH -lGVars3 -lcvd -lGL -lGLU -llapack

VideoSource_Linux_V4L.o: In function `VideoSource::VideoSource()':

VideoSource_Linux_V4L.cc:(.text+0x2b1b): undefined reference to `CVD::V4L::V4L2Client::V4L2Client(int, unsigned int, CVD::ImageRef, int, bool, int, bool)'

VideoSource_Linux_V4L.cc:(.text+0x2c29): undefined reference to `CVD::Exceptions::V4LBuffer::DeviceOpen::DeviceOpen(std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.cc:(.text+0x3992): undefined reference to `CVD::Exceptions::V4LBuffer::DeviceSetup::DeviceSetup(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.o: In function `CVD::V4LBuffer<CVD::yuv422>::frame_rate()':

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE10frame_rateEv[CVD::V4LBuffer<CVD::yuv422>::frame_rate()]+0x15): undefined reference to `CVD::V4L::V4L2Client::getRate()'

VideoSource_Linux_V4L.o: In function `CVD::V4LBuffer<CVD::yuv422>::frame_pending()':

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE13frame_pendingEv[CVD::V4LBuffer<CVD::yuv422>::frame_pending()]+0x11): undefined reference to `CVD::V4L::V4L2Client::pendingFrame()'

VideoSource_Linux_V4L.o: In function `CVD::V4LBuffer<CVD::yuv422>::size()':

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE4sizeEv[CVD::V4LBuffer<CVD::yuv422>::size()]+0x1e): undefined reference to `CVD::V4L::V4L2Client::getSize()'

VideoSource_Linux_V4L.o: In function `CVD::V4LBuffer<CVD::yuv422>::put_frame(CVD::VideoFrame<CVD::yuv422>*)':

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9put_frameEPNS_10VideoFrameIS1_EE[CVD::V4LBuffer<CVD::yuv422>::put_frame(CVD::VideoFrame<CVD::yuv422>*)]+0x59): undefined reference to `CVD::V4L::V4L2Client::releaseFrame(int)'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9put_frameEPNS_10VideoFrameIS1_EE[CVD::V4LBuffer<CVD::yuv422>::put_frame(CVD::VideoFrame<CVD::yuv422>*)]+0xab): undefined reference to `CVD::Exceptions::V4LBuffer::PutFrame::PutFrame(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9put_frameEPNS_10VideoFrameIS1_EE[CVD::V4LBuffer<CVD::yuv422>::put_frame(CVD::VideoFrame<CVD::yuv422>*)]+0x131): undefined reference to `CVD::Exceptions::V4LBuffer::PutFrame::PutFrame(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9put_frameEPNS_10VideoFrameIS1_EE[CVD::V4LBuffer<CVD::yuv422>::put_frame(CVD::VideoFrame<CVD::yuv422>*)]+0x2bb): undefined reference to `CVD::Exceptions::V4LBuffer::PutFrame::PutFrame(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.o: In function `CVD::V4LBuffer<CVD::yuv422>::get_frame()':

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9get_frameEv[CVD::V4LBuffer<CVD::yuv422>::get_frame()]+0x1e): undefined reference to `CVD::V4L::V4L2Client::getFrame()'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9get_frameEv[CVD::V4LBuffer<CVD::yuv422>::get_frame()]+0x33): undefined reference to `CVD::V4L::V4L2Client::getSize()'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9get_frameEv[CVD::V4LBuffer<CVD::yuv422>::get_frame()]+0xc2): undefined reference to `CVD::Exceptions::V4LBuffer::GetFrame::GetFrame(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

VideoSource_Linux_V4L.cc:(.text._ZN3CVD9V4LBufferINS_6yuv422EE9get_frameEv[CVD::V4LBuffer<CVD::yuv422>::get_frame()]+0x1d8): undefined reference to `CVD::Exceptions::V4LBuffer::GetFrame::GetFrame(std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >)'

collect2: ld returned 1 exit status

make: *** [PTAM] Error 1

I believe that the root of my problems is in building libcvd (one of the dependencies for PTAM). When I run the configure script for libcvd I get:

Code:

$ sudo ./configure --without-ffmpeg --without-mmx --without-v4l1buffer --with-v4l2

checking for gcc... gcc

checking for C compiler default output file name... a.out

checking whether the C compiler works... yes

checking whether we are cross compiling... no

checking for suffix of executables... 

checking for suffix of object files... o

checking whether we are using the GNU C compiler... yes

checking whether gcc accepts -g... yes

checking for gcc option to accept ISO C89... none needed

checking how to run the C preprocessor... gcc -E

checking for grep that handles long lines and -e... /bin/grep

checking for egrep... /bin/grep -E

checking for ANSI C header files... yes

checking for gawk... no

checking for mawk... mawk

checking for g++... g++

checking whether we are using the GNU C++ compiler... yes

checking whether g++ accepts -g... yes

checking for a BSD-compatible install... /usr/bin/install -c

checking whether ln -s works... yes

checking for ranlib... ranlib

checking how to run the C++ preprocessor... g++ -E

checking if compiler flag -Wall works... yes

checking if compiler flag -Wextra works... yes

checking if compiler flag -pipe works... yes

checking if compiler flag -ggdb works... yes

checking if compiler flag -fPIC works... yes

checking build system type... i686-pc-linux-gnu

checking host system type... i686-pc-linux-gnu

checking for best optimize flags... 

checking if compiler flag -O3 works... yes

checking CPU type... core2

checking if compiler flag -march=native works... yes



------------------------------------

Checking processor specific features

------------------------------------



checking for sys/types.h... yes

checking for sys/stat.h... yes

checking for stdlib.h... yes

checking for string.h... yes

checking for memory.h... yes

checking for strings.h... yes

checking for inttypes.h... yes

checking for stdint.h... yes

checking for unistd.h... yes

checking whether byte ordering is bigendian... no

checking for MMXEXT support... yes

checking for SSE support... yes

checking for SSE2 support... yes

checking for SSE3 support... yes

checking for void*... yes

checking size of void*... 4

checking for inline asm statement... yes

checking assembler supports .type pseudo-op... yes



-----------------------------------------------

Checking for operating system specific features

-----------------------------------------------

checking dc1394/dc1394.h usability... yes

checking dc1394/dc1394.h presence... yes

checking for dc1394/dc1394.h... yes

checking for main in -ldc1394... yes

checking libraw1394/raw1394.h usability... yes

checking libraw1394/raw1394.h presence... yes

checking for libraw1394/raw1394.h... yes

checking libdc1394/dc1394_control.h usability... no

checking libdc1394/dc1394_control.h presence... no

checking for libdc1394/dc1394_control.h... no

checking for main in -lraw1394... yes

checking for main in -ldc1394_control... no

checking for v4l2... no

checking for strange v4l2... no

checking kernel major number... 2

checking kernel minor number... 6

checking kernel release number... 38



-------------------------------

Checking for optional libraries

-------------------------------

checking for X... libraries , headers 

checking for glDrawPixels in -lGL... yes

checking GL/glu.h usability... yes

checking GL/glu.h presence... yes

checking for GL/glu.h... yes

checking for gluGetString in -lGLU... yes

checking for tr1::shared_ptr... yes

checking for TooN... yes

checking Old TooN... no

checking for dgesvd_ in -lacml... no

checking if Accelerate framework is needed for LAPACK... 

checking for dgesvd_... no

checking for dgesvd_ in -llapack... yes

checking for working pthreads... yes

checking for pthread_yield... yes

checking for pthread_yield_np... no

checking png.h usability... yes

checking png.h presence... yes

checking for png.h... yes

checking for png_init_io in -lpng... yes

checking jpeglib.h usability... yes

checking jpeglib.h presence... yes

checking for jpeglib.h... yes

checking for jpeg_destroy_decompress in -ljpeg... yes

checking JPEG read buffer size... 1 (safe reading)

checking tiffio.h usability... yes

checking tiffio.h presence... yes

checking for tiffio.h... yes

checking for TIFFReadRGBAImage in -ltiff... yes

checking for TIFFReadRGBAImageOriented in -ltiff... yes

checking for doxygen... no



-----------------------------------

Checking for platform compatibility

-----------------------------------

checking glob.h usability... yes

checking glob.h presence... yes

checking for glob.h... yes

checking for glob... yes

checking for GLOB_BRACE and GLOB_TILDE in glob.h... yes

checking whether feenableexcept is declared... yes

checking for posix_memalign... yes



--------------------------------

Checking for extra build options

--------------------------------





Options:

inline_asm assembler dc1394v2 dvbuffer3 videodisplay tr1_shared_ptr toon lapack pthread png jpeg tiff glob memalign



Missing options for linux-gnu:

dvbuffer ffmpeg v4l1buffer v4l2buffer v4lbuffer



Dodgy things:







SIMD support:

mmxext sse sse2 sse3



Missing SIMD support for i686-pc-linux-gnu:

mmx



-g -Wall -Wextra -pipe -ggdb -fPIC -msse -msse -msse2 -msse3 -pthread

-ltiff -ljpeg -lpng -llapack -lGLU -lGL -ldc1394 -L -lX11 -lXext -pthread

Generating config... configuration unchanged

configure: creating ./config.status

config.status: creating Makefile

config.status: WARNING:  Makefile.in seems to ignore the --datarootdir setting

Specifically, the two lines

Code:

checking for v4l2... no

checking for strange v4l2... no

concern me because I know that video4linux2 is installed.

I ran pkg-config for v4l2 and got the output:

Code:

$ pkg-config --libs /usr/lib/pkgconfig/libv4l2.pc

-lv4l2

So after running the configuration script for libcvd, I modified a couple of lines in the libcvd Makefile to add -lv4l2 to the build process like so

Code:

LOADLIBES = -ltiff -ljpeg -lpng -llapack -lGLU -lGL -ldc1394 -lv4l2 -L -lX11 -lXext -pthread

Unfortunately, after re-building and re-installing libcvd and attempting to re-build PTAM, I am still getting the same errors as before.

I'm kind of assuming the main problem is that V4L2 isn't getting built into/utilized by libcvd. How can make the libcvd configuration script aware of V4L2?

Any help on this would be greatly appreciated!

Thanks,
Jake