Openvins build error in jetson orin nano

[mo-aqeel]

Hello, I am trying to build OpenVINS on my Jetson Orin Nano. During the build process, I encountered some errors related to the ArUco module. To resolve this, I disabled ArUco support while running the build. Now I am facing errors related cv::mat.

System Information:

Operating System: Ubuntu 20.04
ROS Version: Noetic
OpenCV Version: 4.2 (ROS)

Error

catkin build -DENABLE_ARUCO_TAGS=OFF

Profile: default
Extending: [cached] /home/nvidia/catkin_ws/devel:/opt/ros/noetic
Workspace: /home/nvidia/workspace

Build Space: [exists] /home/nvidia/workspace/build
Devel Space: [exists] /home/nvidia/workspace/devel
Install Space: [unused] /home/nvidia/workspace/install
Log Space: [exists] /home/nvidia/workspace/logs
Source Space: [exists] /home/nvidia/workspace/src
DESTDIR: [unused] None
Devel Space Layout: linked
Install Space Layout: None
Additional CMake Args: -DENABLE_ARUCO_TAGS=OFF
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False-------------------------------------------------------------------------

Buildlisted Packages: None
Skiplisted Packages: None

Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
[build] Found 5 packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> ov_core
Starting >>> ov_data
Finished <<< ov_data [ 1.7 seconds ]

Warnings << ov_core:cmake /home/nvidia/workspace/logs/ov_core/build.cmake.001.log
CMake Warning at /home/nvidia/workspace/src/open_vins/ov_core/CMakeLists.txt:18 (message):
DISABLING ARUCOTAG TRACKING!

cd /home/nvidia/workspace/build/ov_core; catkin build --get-env ov_core | catkin env -si /usr/bin/cmake /home/nvidia/workspace/src/open_vins/ov_core --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/nvidia/workspace/devel/.private/ov_core -DCMAKE_INSTALL_PREFIX=/home/nvidia/workspace/install -DENABLE_ARUCO_TAGS=OFF; cd -

................................................................................................................................................................................................

---

Errors << ov_core:make /home/nvidia/workspace/logs/ov_core/build.make.002.log
/usr/bin/ld: CMakeFiles/test_webcam.dir/src/test_webcam.cpp.o: in function ov_core::CamRadtan::undistort_f(Eigen::Matrix<float, 2, 1, 0, 2, 1> const&)': /home/nvidia/workspace/src/open_vins/ov_core/src/cam/CamRadtan.h:106: undefined reference to cv::Mat::Mat(int, int, int)'
/usr/bin/ld: CMakeFiles/test_webcam.dir/src/test_webcam.cpp.o: in function main': /home/nvidia/workspace/src/open_vins/ov_core/src/test_webcam.cpp:175: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: CMakeFiles/test_webcam.dir/src/test_webcam.cpp.o: in function cv::MatExpr::operator cv::Mat() const': /usr/include/opencv4/opencv2/core/mat.inl.hpp:3077: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: CMakeFiles/test_webcam.dir/src/test_webcam.cpp.o: in function main': /home/nvidia/workspace/src/open_vins/ov_core/src/test_webcam.cpp:200: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: /home/nvidia/workspace/src/open_vins/ov_core/src/test_webcam.cpp:200: undefined reference to cv::Mat::Mat()' /usr/bin/ld: /home/nvidia/workspace/devel/.private/ov_core/lib/libov_core_lib.so: undefined reference to cv::Mat::Mat(int, int, int, cv::Scalar_ const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/test_webcam.dir/build.make:263: /home/nvidia/workspace/devel/.private/ov_core/lib/ov_core/test_webcam] Error 1
make[1]: *** [CMakeFiles/Makefile2:181: CMakeFiles/test_webcam.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/test_tracking.dir/src/test_tracking.cpp.o: in function cv::MatExpr::operator cv::Mat() const': /usr/include/opencv4/opencv2/core/mat.inl.hpp:3077: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: CMakeFiles/test_tracking.dir/src/test_tracking.cpp.o: in function handle_stereo(double, double, cv::Mat, cv::Mat)': /home/nvidia/workspace/src/open_vins/ov_core/src/test_tracking.cpp:318: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: /home/nvidia/workspace/src/open_vins/ov_core/src/test_tracking.cpp:318: undefined reference to cv::Mat::Mat()' /usr/bin/ld: CMakeFiles/test_tracking.dir/src/test_tracking.cpp.o: in function ov_core::CamRadtan::undistort_f(Eigen::Matrix<float, 2, 1, 0, 2, 1> const&)':
/home/nvidia/workspace/src/open_vins/ov_core/src/cam/CamRadtan.h:106: undefined reference to cv::Mat::Mat(int, int, int)' /usr/bin/ld: CMakeFiles/test_tracking.dir/src/test_tracking.cpp.o: in function main':
/home/nvidia/workspace/src/open_vins/ov_core/src/test_tracking.cpp:220: undefined reference to cv::Mat::Mat()' /usr/bin/ld: /home/nvidia/workspace/src/open_vins/ov_core/src/test_tracking.cpp:220: undefined reference to cv::Mat::Mat()'
/usr/bin/ld: /home/nvidia/workspace/devel/.private/ov_core/lib/libov_core_lib.so: undefined reference to cv::Mat::Mat(int, int, int, cv::Scalar_<double> const&)' collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/test_tracking.dir/build.make:263: /home/nvidia/workspace/devel/.private/ov_core/lib/ov_core/test_tracking] Error 1 make[1]: *** [CMakeFiles/Makefile2:1234: CMakeFiles/test_tracking.dir/all] Error 2 /usr/bin/ld: CMakeFiles/test_profile.dir/src/test_profile.cpp.o: in function main':
/home/nvidia/workspace/src/open_vins/ov_core/src/test_profile.cpp:92: undefined reference to cv::Mat::Mat(int, int, int)' /usr/bin/ld: /home/nvidia/workspace/src/open_vins/ov_core/src/test_profile.cpp:93: undefined reference to cv::Mat::Mat(int, int, int)'
/usr/bin/ld: /home/nvidia/workspace/devel/.private/ov_core/lib/libov_core_lib.so: undefined reference to cv::Mat::Mat(int, int, int, cv::Scalar_<double> const&)' /usr/bin/ld: /home/nvidia/workspace/devel/.private/ov_core/lib/libov_core_lib.so: undefined reference to cv::Mat::Mat()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/test_profile.dir/build.make:263: /home/nvidia/workspace/devel/.private/ov_core/lib/ov_core/test_profile] Error 1
make[1]: *** [CMakeFiles/Makefile2:1072: CMakeFiles/test_profile.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/nvidia/workspace/build/ov_core; catkin build --get-env ov_core | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

................................................................................................................................................................................................
Failed << ov_core:make [ Exited with code 2 ]
Failed <<< ov_core [ 4 minutes and 17.5 seconds ]
Abandoned <<< ov_eval [ Unrelated job failed ]
Abandoned <<< ov_init [ Unrelated job failed ]
Abandoned <<< ov_msckf [ Unrelated job failed ]
[build] Summary: 1 of 5 packages succeeded.
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 3 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 4 minutes and 17.8 seconds total.