c++ - 为 PCL c++ 代码创建的 boost.python 模块导入错误

Question

我正在尝试为 c++ 代码生成一个 python 包装器，它使用点云库 (PCL) 估计点云的法线。为此，我正在使用 boost.python 。我能够毫无问题地生成共享库，但是当我尝试在 ipython 中导入它时，出现导入错误

undefined symbol :_ZNK5boost6python7objects21py_function_impl_base9max_arityEv

以下是我的问题的详细描述。

首先，我尝试了 boost_python 文档中的 hello world 示例。

#include <boost/python/module.hpp>
#include <boost/python/def.hpp>

char const* greet()
{
   return "hello, world";
}

int square(int number)
{
  return number*number;
}

BOOST_PYTHON_MODULE(libhello)
{
    using namespace boost::python;
    def("greet", greet);
    def("square",square);
}

我使用 CMakeLists.txt 编译上面的代码

CMAKE_MINIMUM_REQUIRED(VERSION 3.2)
IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE "DEBUG")
  #SET(CMAKE_BUILD_TYPE "RELEASE")
  #SET(CMAKE_BUILD_TYPE "RELWITHDEBINFO")
  #SET(CMAKE_BUILD_TYPE "MINSIZEREL")
ENDIF()

FIND_PACKAGE(Boost 1.54.0)
IF(Boost_FOUND)
  INCLUDE_DIRECTORIES("${Boost_INCLUDE_DIRS}" "/usr/include/python2.7")
  SET(Boost_USE_STATIC_LIBS OFF)
  SET(Boost_USE_MULTITHREADED ON)
  SET(Boost_USE_STATIC_RUNTIME OFF)
  FIND_PACKAGE(Boost 1.54.0 COMPONENTS python)

  ADD_LIBRARY(hello SHARED hello.cpp)
  TARGET_LINK_LIBRARIES(hello ${Boost_LIBRARIES})
ELSEIF(NOT Boost_FOUND)
  MESSAGE(FATAL_ERROR "Unable to find correct Boost version. Did you set BOOST_ROOT?")
ENDIF()

IF(CMAKE_COMPILER_IS_GNUCXX)
  ADD_DEFINITIONS("-Wall")
ELSE()
  MESSAGE(FATAL_ERROR "CMakeLists.txt has not been tested/written for your compiler.")
ENDIF()

这完全没有问题。生成的共享库的 ldd outbut 如下所示:

badami@Zusi:~/Codes/indor_seg/pySegment/libC++/build_hello$ ldd libhello.so 
    linux-vdso.so.1 =>  (0x00007fff04695000)
    libboost_python-py27.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.54.0 (0x00007f4d0c234000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f4d0bf30000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f4d0bd1a000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f4d0b955000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f4d0b64f000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f4d0c68e000)

我可以在 ipython 环境中导入这个库并调用定义的方法，没有任何问题。

现在，我尝试使用 PCL 为以下代码重复我的正常估算代码的示例。

#include <boost/python/module.hpp>
#include <boost/python/def.hpp>

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/visualization/cloud_viewer.h>

int normalEstimation()
{
    // load point cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile ("table_scene_mug_stereo_textured.pcd", *cloud);

    // estimate normals
    pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);

    pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
    ne.setNormalEstimationMethod (ne.AVERAGE_3D_GRADIENT);
    ne.setMaxDepthChangeFactor(0.02f);
    ne.setNormalSmoothingSize(10.0f);
    ne.setInputCloud(cloud);
    ne.compute(*normals);

    // visualize normals
    pcl::visualization::PCLVisualizer viewer("PCL Viewer");
    viewer.setBackgroundColor (0.0, 0.0, 0.5);
    viewer.addPointCloudNormals<pcl::PointXYZ,pcl::Normal>(cloud, normals);

    while (!viewer.wasStopped ())
    {
      viewer.spinOnce ();
    }
    return 0;
}

BOOST_PYTHON_MODULE(libpcltest)
{
    using namespace boost::python;
    def("normalEstimation", normalEstimation);
}

使用 CMakeLists.txt 如下:

CMAKE_MINIMUM_REQUIRED(VERSION 3.2)
IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE "DEBUG")
  #SET(CMAKE_BUILD_TYPE "RELEASE")
  #SET(CMAKE_BUILD_TYPE "RELWITHDEBINFO")
  #SET(CMAKE_BUILD_TYPE "MINSIZEREL")
ENDIF()

FIND_PACKAGE(Boost 1.54.0)
IF(Boost_FOUND)

  INCLUDE_DIRECTORIES("${Boost_INCLUDE_DIRS}" "/usr/include/python2.7")
  SET(Boost_USE_STATIC_LIBS OFF)
  SET(Boost_USE_MULTITHREADED ON)
  SET(Boost_USE_STATIC_RUNTIME OFF)
  FIND_PACKAGE(Boost 1.54.0 COMPONENTS python)

  FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS common io visualization features)
  INCLUDE_DIRECTORIES(${PCL_INCLUDE_DIRS})
  LINK_DIRECTORIES(${PCL_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS})

  ADD_LIBRARY(pcltest SHARED normal_estimation.cpp)
  TARGET_LINK_LIBRARIES(pcltest ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
ELSEIF(NOT Boost_FOUND)
  MESSAGE(FATAL_ERROR "Unable to find correct Boost version. Did you set BOOST_ROOT?")
ENDIF()

IF(CMAKE_COMPILER_IS_GNUCXX)
  ADD_DEFINITIONS("-Wall")
ELSE()
  MESSAGE(FATAL_ERROR "CMakeLists.txt has not been tested/written for your compiler.")
ENDIF()

生成的共享库的ldd输出如下:

badami@Zusi:~/Codes/indor_seg/pySegment/libC++/build$ ldd libpcltest.so 
    linux-vdso.so.1 =>  (0x00007ffe05793000)
    libboost_system.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.54.0 (0x00007f29d38a4000)
    libpcl_common.so.1.7 => /usr/lib/libpcl_common.so.1.7 (0x00007f29d35f0000)
    libpcl_io.so.1.7 => /usr/lib/libpcl_io.so.1.7 (0x00007f29d3138000)
    libpcl_search.so.1.7 => /usr/lib/libpcl_search.so.1.7 (0x00007f29d2d8d000)
    libpcl_visualization.so.1.7 => /usr/lib/libpcl_visualization.so.1.7 (0x00007f29d2a36000)
    libpcl_features.so.1.7 => /usr/lib/libpcl_features.so.1.7 (0x00007f29d0f38000)
    libvtkRendering.so.5.8 => /usr/lib/libvtkRendering.so.5.8 (0x00007f29d0832000)
    libvtkFiltering.so.5.8 => /usr/lib/libvtkFiltering.so.5.8 (0x00007f29d02a9000)
    libvtkCommon.so.5.8 => /usr/lib/libvtkCommon.so.5.8 (0x00007f29cfd33000)
    libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f29cfa2f000)
    libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f29cf729000)
    libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f29cf513000)
    libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f29cf14e000)
    libboost_thread.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0 (0x00007f29cef38000)
    libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f29ced1a000)
    libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f29ceb0b000)
    libboost_filesystem.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.54.0 (0x00007f29ce8f5000)
    libboost_iostreams.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.54.0 (0x00007f29ce6dc000)
    libboost_chrono.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.54.0 (0x00007f29ce4d5000)
    libpcl_io_ply.so.1.7 => /usr/lib/libpcl_io_ply.so.1.7 (0x00007f29ce286000)
    libvtkImaging.so.5.8 => /usr/lib/libvtkImaging.so.5.8 (0x00007f29cdc99000)
    libvtkIO.so.5.8 => /usr/lib/libvtkIO.so.5.8 (0x00007f29cd518000)
    libpng12.so.0 => /usr/lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f29cd2f2000)
    libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007f29cd0db000)
    libOpenNI2.so.0 => /usr/lib/libOpenNI2.so.0 (0x00007f29cce80000)
    libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007f29ccc08000)
    /lib64/ld-linux-x86-64.so.2 (0x00007f29d3d22000)
    libpcl_octree.so.1.7 => /usr/lib/libpcl_octree.so.1.7 (0x00007f29cc81b000)
    libpcl_kdtree.so.1.7 => /usr/lib/libpcl_kdtree.so.1.7 (0x00007f29cc4f4000)
    libvtkGraphics.so.5.8 => /usr/lib/libvtkGraphics.so.5.8 (0x00007f29cbb38000)
    libvtkHybrid.so.5.8 => /usr/lib/libvtkHybrid.so.5.8 (0x00007f29cb656000)
    libvtkWidgets.so.5.8 => /usr/lib/libvtkWidgets.so.5.8 (0x00007f29cb282000)
    libvtkCharts.so.5.8 => /usr/lib/libvtkCharts.so.5.8 (0x00007f29cafa4000)
    libGL.so.1 => /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 (0x00007f29cad15000)
    libvtkftgl.so.5.8 => /usr/lib/libvtkftgl.so.5.8 (0x00007f29cab0a000)
    libQtGui.so.4 => /usr/lib/x86_64-linux-gnu/libQtGui.so.4 (0x00007f29c9e57000)
    libQtCore.so.4 => /usr/lib/x86_64-linux-gnu/libQtCore.so.4 (0x00007f29c9972000)
    libgl2ps.so.0 => /usr/lib/libgl2ps.so.0 (0x00007f29c975f000)
    libXt.so.6 => /usr/lib/x86_64-linux-gnu/libXt.so.6 (0x00007f29c94f9000)
    libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f29c91c4000)
    libvtksys.so.5.8 => /usr/lib/libvtksys.so.5.8 (0x00007f29c8f88000)
    libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f29c8ce5000)
    librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f29c8add000)
    libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f29c88c4000)
    libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f29c86b4000)
    libpq.so.5 => /usr/lib/libpq.so.5 (0x00007f29c8485000)
    libmysqlclient.so.18 => /usr/lib/x86_64-linux-gnu/libmysqlclient.so.18 (0x00007f29c7f4d000)
    libvtkDICOMParser.so.5.8 => /usr/lib/libvtkDICOMParser.so.5.8 (0x00007f29c7d34000)
    libnetcdf.so.7 => /usr/lib/libnetcdf.so.7 (0x00007f29c79f7000)
    libnetcdf_c++.so.4 => /usr/lib/libnetcdf_c++.so.4 (0x00007f29c77da000)
    libvtkmetaio.so.5.8 => /usr/lib/libvtkmetaio.so.5.8 (0x00007f29c754d000)
    libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007f29c7294000)
    libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f29c703f000)
    libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f29c6dcd000)
    libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007f29c6ba3000)
    libavformat.so.54 => /usr/lib/x86_64-linux-gnu/libavformat.so.54 (0x00007f29c6881000)
    libavcodec.so.54 => /usr/lib/x86_64-linux-gnu/libavcodec.so.54 (0x00007f29c5b2d000)
    libavutil.so.52 => /usr/lib/x86_64-linux-gnu/libavutil.so.52 (0x00007f29c5908000)
    libswscale.so.2 => /usr/lib/x86_64-linux-gnu/libswscale.so.2 (0x00007f29c56c1000)
    libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007f29c54b0000)
    libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f29c52ac000)
    libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f29c5097000)
    libvtkverdict.so.5.8 => /usr/lib/libvtkverdict.so.5.8 (0x00007f29c4e61000)
    libvtkParallel.so.5.8 => /usr/lib/libvtkParallel.so.5.8 (0x00007f29c4a5e000)
    libvtkexoIIc.so.5.8 => /usr/lib/libvtkexoIIc.so.5.8 (0x00007f29c4814000)
    libvtkViews.so.5.8 => /usr/lib/libvtkViews.so.5.8 (0x00007f29c457a000)
    libvtkInfovis.so.5.8 => /usr/lib/libvtkInfovis.so.5.8 (0x00007f29c40e2000)
    libglapi.so.0 => /usr/lib/x86_64-linux-gnu/libglapi.so.0 (0x00007f29c3eb4000)
    libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f29c3ca2000)
    libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007f29c3a9f000)
    libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007f29c3899000)
    libX11-xcb.so.1 => /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007f29c3697000)
    libxcb-glx.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0 (0x00007f29c3480000)
    libxcb-dri2.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0 (0x00007f29c327b000)
    libxcb-dri3.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0 (0x00007f29c3078000)
    libxcb-present.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-present.so.0 (0x00007f29c2e75000)
    libxcb-sync.so.1 => /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1 (0x00007f29c2c6f000)
    libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f29c2a50000)
    libxshmfence.so.1 => /usr/lib/x86_64-linux-gnu/libxshmfence.so.1 (0x00007f29c284e000)
    libXxf86vm.so.1 => /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007f29c2648000)
    libdrm.so.2 => /usr/lib/x86_64-linux-gnu/libdrm.so.2 (0x00007f29c243a000)
    libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f29c21fe000)
    libaudio.so.2 => /usr/lib/x86_64-linux-gnu/libaudio.so.2 (0x00007f29c1fe6000)
    libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f29c1cde000)
    libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f29c1a8d000)
    libSM.so.6 => /usr/lib/x86_64-linux-gnu/libSM.so.6 (0x00007f29c1885000)
    libICE.so.6 => /usr/lib/x86_64-linux-gnu/libICE.so.6 (0x00007f29c1669000)
    libXi.so.6 => /usr/lib/x86_64-linux-gnu/libXi.so.6 (0x00007f29c1459000)
    libXrender.so.1 => /usr/lib/x86_64-linux-gnu/libXrender.so.1 (0x00007f29c124f000)
    libssl.so.1.0.0 => /lib/x86_64-linux-gnu/libssl.so.1.0.0 (0x00007f29c0ff0000)
    libcrypto.so.1.0.0 => /lib/x86_64-linux-gnu/libcrypto.so.1.0.0 (0x00007f29c0c15000)
    libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x00007f29c094a000)
    libcom_err.so.2 => /lib/x86_64-linux-gnu/libcom_err.so.2 (0x00007f29c0746000)
    libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x00007f29c0500000)
    libldap_r-2.4.so.2 => /usr/lib/x86_64-linux-gnu/libldap_r-2.4.so.2 (0x00007f29c02af000)
    libhdf5_hl.so.7 => /usr/lib/x86_64-linux-gnu/libhdf5_hl.so.7 (0x00007f29c007f000)
    libhdf5.so.7 => /usr/lib/x86_64-linux-gnu/libhdf5.so.7 (0x00007f29bfbe3000)
    libcurl-gnutls.so.4 => /usr/lib/x86_64-linux-gnu/libcurl-gnutls.so.4 (0x00007f29bf981000)
    liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f29bf75f000)
    libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007f29bf551000)
    librtmp.so.0 => /usr/lib/x86_64-linux-gnu/librtmp.so.0 (0x00007f29bf337000)
    libgnutls.so.26 => /usr/lib/x86_64-linux-gnu/libgnutls.so.26 (0x00007f29bf079000)
    libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007f29bed3b000)
    libx264.so.142 => /usr/lib/x86_64-linux-gnu/libx264.so.142 (0x00007f29be9a5000)
    libvpx.so.1 => /usr/lib/x86_64-linux-gnu/libvpx.so.1 (0x00007f29be5c6000)
    libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007f29be0f7000)
    libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007f29bdeca000)
    libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007f29bdc8a000)
    libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007f29bda71000)
    libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007f29bd858000)
    libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007f29bd594000)
    libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007f29bd34c000)
    libopenjpeg.so.2 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.2 (0x00007f29bd12a000)
    libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007f29bce9d000)
    libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007f29bcc8f000)
    libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007f29bca78000)
    libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007f29bc85d000)
    libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007f29bc645000)
    libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007f29bc43b000)
    libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007f29bc1f6000)
    libVPIC.so.5.8 => /usr/lib/libVPIC.so.5.8 (0x00007f29bbfcd000)
    libCosmo.so.5.8 => /usr/lib/libCosmo.so.5.8 (0x00007f29bbd9e000)
    libmpi_cxx.so.1 => /usr/lib/libmpi_cxx.so.1 (0x00007f29bbb84000)
    libmpi.so.1 => /usr/lib/libmpi.so.1 (0x00007f29bb803000)
    libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007f29bb49d000)
    libvtkalglib.so.5.8 => /usr/lib/libvtkalglib.so.5.8 (0x00007f29bb279000)
    libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f29bb075000)
    libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f29bae6f000)
    libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f29bac31000)
    libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f29baa29000)
    libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007f29ba824000)
    libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x00007f29ba5f5000)
    libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x00007f29ba3ea000)
    libkeyutils.so.1 => /lib/x86_64-linux-gnu/libkeyutils.so.1 (0x00007f29ba1e6000)
    libresolv.so.2 => /lib/x86_64-linux-gnu/libresolv.so.2 (0x00007f29b9fcb000)
    liblber-2.4.so.2 => /usr/lib/x86_64-linux-gnu/liblber-2.4.so.2 (0x00007f29b9dbc000)
    libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x00007f29b9ba1000)
    libgssapi.so.3 => /usr/lib/x86_64-linux-gnu/libgssapi.so.3 (0x00007f29b9963000)
    libgcrypt.so.11 => /lib/x86_64-linux-gnu/libgcrypt.so.11 (0x00007f29b96e3000)
    libidn.so.11 => /usr/lib/x86_64-linux-gnu/libidn.so.11 (0x00007f29b94b0000)
    libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007f29b929c000)
    libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007f29b905a000)
    libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007f29b8e51000)
    liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007f29b8bcf000)
    libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007f29b89cc000)
    libhwloc.so.5 => /usr/lib/x86_64-linux-gnu/libhwloc.so.5 (0x00007f29b878c000)
    libltdl.so.7 => /usr/lib/x86_64-linux-gnu/libltdl.so.7 (0x00007f29b8582000)
    libheimntlm.so.0 => /usr/lib/x86_64-linux-gnu/libheimntlm.so.0 (0x00007f29b8379000)
    libkrb5.so.26 => /usr/lib/x86_64-linux-gnu/libkrb5.so.26 (0x00007f29b80f1000)
    libasn1.so.8 => /usr/lib/x86_64-linux-gnu/libasn1.so.8 (0x00007f29b7e50000)
    libhcrypto.so.4 => /usr/lib/x86_64-linux-gnu/libhcrypto.so.4 (0x00007f29b7c1d000)
    libroken.so.18 => /usr/lib/x86_64-linux-gnu/libroken.so.18 (0x00007f29b7a08000)
    libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f29b7803000)
    libnuma.so.1 => /usr/lib/x86_64-linux-gnu/libnuma.so.1 (0x00007f29b75f8000)
    libwind.so.0 => /usr/lib/x86_64-linux-gnu/libwind.so.0 (0x00007f29b73cf000)
    libheimbase.so.1 => /usr/lib/x86_64-linux-gnu/libheimbase.so.1 (0x00007f29b71c1000)
    libhx509.so.5 => /usr/lib/x86_64-linux-gnu/libhx509.so.5 (0x00007f29b6f78000)
    libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007f29b6d3f000)

现在，当我尝试在 ipython 中导入这个库时，出现以下错误:

In [1]: import libpcltest
---------------------------------------------------------------------------
ImportError                               Traceback (most recent call last)
<ipython-input-1-93c311da18da> in <module>()
----> 1 import libpcltest

ImportError: ./libpcltest.so: undefined symbol: _ZNK5boost6python7objects21py_function_impl_base9max_arityEv

通过简单地在谷歌中复制粘贴这个错误，我发现这个错误对应于 libboost_python.so 库的链接错误。为了证实我的疑问，我检查了我的库 libpcltest.so 的 ldd 输出并意识到指向 libboost_python.so 的链接确实丢失了。

为了进一步调查，然后我使用第二个 CMakeLists.txt 的配置编译了第一个示例中的 hello.cpp 代码(其中还包括 PCL，包括目录和到 PCL 库的链接)，令人惊讶的是，结果共享库的 ldd 输出确实没有指向 libboost_python.so 的链接

这个错误似乎与同时使用libboost_python和PCL有关，但我仍然不知道如何解决它。

有人可以帮我解决这里的问题吗？附言我正在使用 ubuntu 14.04，这里使用的所有库都是默认系统库。

Answer 1

我想我知道这里出了什么问题。当我检查 cmake 的输出时，我得到以下信息:

badami@Zusi:~/Codes/indor_seg/pySegment/libC++/build$ cmake ..
-- Boost version: 1.54.0
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   python
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- looking for PCL_KDTREE
-- looking for PCL_GEOMETRY
-- looking for PCL_SEARCH
-- looking for PCL_VISUALIZATION
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_FEATURES
-- Configuring done
-- Generating done
-- Build files have been written to: /home/badami/Codes/indor_seg/pySegment/libC++/build

如您所见，它找到了两次 Boost 库，一次来自系统默认的 boost 安装，一次来自 PCL 中的 boost。

由于在我的CMakeLists.txt中，我先搜索boost库，然后再搜索PCL，发现boost的python库被PCL中的boost库覆盖。

当我更改 CMakeLists.txt 文件中的顺序时

FIND_PACKAGE(Boost 1.54.0 COMPONENTS python)
FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS common io visualization features)

到

FIND_PACKAGE(PCL 1.7 REQUIRED COMPONENTS common io visualization features)
FIND_PACKAGE(Boost 1.54.0 COMPONENTS python)

cmake对应的输出变为:

badami@Zusi:~/Codes/indor_seg/pySegment/libC++/build$ cmake ..
-- Boost version: 1.54.0
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- looking for PCL_KDTREE
-- looking for PCL_GEOMETRY
-- looking for PCL_SEARCH
-- looking for PCL_VISUALIZATION
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_FEATURES
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   python
-- Configuring done
-- Generating done
-- Build files have been written to: /home/badami/Codes/indor_seg/pySegment/libC++/build

并且 libboost_python.so 成功链接到生成的共享库。

非常欢迎更优雅的解决方案。