Commit d8e079f breaks U22.04 compile - ld error: undefined reference to `ZSTD_xxxxx`

[EwingKang]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

Steps to reproduce the issue

I first cloned Open3D by:

git clone https://github.com/isl-org/Open3D.git
cd Open3D

Install the dependencies

./util/install_deps_ubuntu.sh

Then, I build Open3D (on Ubuntu 22.04, enable shared lib) with:

mkdir build
cd build
cmake -DUSE_SYSTEM_EIGEN3=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=../../open3d_install_clean ..
make -j$(nproc)

The error I got

Error message

/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/CMakeFiles/MergeMesh.dir/build.make:101: bin/MergeMesh] Error 1
make[1]: *** [CMakeFiles/Makefile2:4140: cpp/tools/CMakeFiles/MergeMesh.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 81%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/blob.cpp.o
[ 81%] Linking CXX executable ../../bin/ViewGeometry
[ 81%] Linking CXX executable ../../bin/examples/DepthCapture
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/cpp/CMakeFiles/DepthCapture.dir/build.make:101: bin/examples/DepthCapture] Error 1
make[1]: *** [CMakeFiles/Makefile2:4623: examples/cpp/CMakeFiles/DepthCapture.dir/all] Error 2
[ 81%] Building CXX object cpp/tools/ManuallyAlignPointCloud/CMakeFiles/ManuallyAlignPointCloud.dir/AlignmentSession.cpp.o
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/CMakeFiles/ViewGeometry.dir/build.make:101: bin/ViewGeometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:4172: cpp/tools/CMakeFiles/ViewGeometry.dir/all] Error 2
[ 81%] Building CXX object cpp/tools/ManuallyAlignPointCloud/CMakeFiles/ManuallyAlignPointCloud.dir/VisualizerForAlignment.cpp.o
[ 81%] Linking CXX executable ../../Open3D/Open3D
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/apps/CMakeFiles/Open3DViewer.dir/build.make:183: Open3D/Open3D] Error 1
make[1]: *** [CMakeFiles/Makefile2:4270: cpp/apps/CMakeFiles/Open3DViewer.dir/all] Error 2
[ 81%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/core.cpp.o
[ 81%] Linking CXX executable ../../bin/ManuallyCropGeometry
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/CMakeFiles/ManuallyCropGeometry.dir/build.make:101: bin/ManuallyCropGeometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:4108: cpp/tools/CMakeFiles/ManuallyCropGeometry.dir/all] Error 2
[ 81%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/cuda_utils.cpp.o
[ 81%] Linking CXX executable ../../bin/examples/CameraPoseTrajectory
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/cpp/CMakeFiles/CameraPoseTrajectory.dir/build.make:101: bin/examples/CameraPoseTrajectory] Error 1
make[1]: *** [CMakeFiles/Makefile2:4559: examples/cpp/CMakeFiles/CameraPoseTrajectory.dir/all] Error 2
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/device.cpp.o
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/dtype.cpp.o
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/hashmap.cpp.o
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/kernel.cpp.o
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/linalg.cpp.o
[ 82%] Linking CXX executable ../../bin/GLInfo
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/CMakeFiles/GLInfo.dir/build.make:106: bin/GLInfo] Error 1
make[1]: *** [CMakeFiles/Makefile2:4076: cpp/tools/CMakeFiles/GLInfo.dir/all] Error 2
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/scalar.cpp.o
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/size_vector.cpp.o
[ 82%] Linking CXX executable ../../../bin/ManuallyAlignPointCloud
/usr/bin/ld: ../../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/ManuallyAlignPointCloud/CMakeFiles/ManuallyAlignPointCloud.dir/build.make:135: bin/ManuallyAlignPointCloud] Error 1
make[1]: *** [CMakeFiles/Makefile2:4206: cpp/tools/ManuallyAlignPointCloud/CMakeFiles/ManuallyAlignPointCloud.dir/all] Error 2
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/sycl_utils.cpp.o
[ 82%] Linking CXX executable ../../bin/ConvertPointCloud
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/tools/CMakeFiles/ConvertPointCloud.dir/build.make:101: bin/ConvertPointCloud] Error 1
make[1]: *** [CMakeFiles/Makefile2:4043: cpp/tools/CMakeFiles/ConvertPointCloud.dir/all] Error 2
[ 82%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/tensor_accessor.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/tensor_converter.cpp.o
[ 83%] Linking CXX executable ../../OfflineReconstruction/OfflineReconstruction
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [cpp/apps/CMakeFiles/OfflineReconstruction.dir/build.make:183: OfflineReconstruction/OfflineReconstruction] Error 1
make[1]: *** [CMakeFiles/Makefile2:4366: cpp/apps/CMakeFiles/OfflineReconstruction.dir/all] Error 2
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/tensor_function.cpp.o
[ 83%] Linking CXX executable ../../bin/examples/ColorMapOptimization
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_createDStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_decompressStream'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_isError'
/usr/bin/ld: ../../lib/Release/libOpen3D.so.0.19.0: undefined reference to `ZSTD_freeDStream'
collect2: error: ld returned 1 exit status
make[2]: *** [examples/cpp/CMakeFiles/ColorMapOptimization.dir/build.make:101: bin/examples/ColorMapOptimization] Error 1
make[1]: *** [CMakeFiles/Makefile2:4591: examples/cpp/CMakeFiles/ColorMapOptimization.dir/all] Error 2
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/tensor_type_caster.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/tensor.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/core/nns/nearest_neighbor_search.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/data/dataset.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/boundingvolume.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/geometry.cpp.o
[ 83%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/halfedgetrianglemesh.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/image.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/kdtreeflann.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/keypoint.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/lineset.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/meshbase.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/octree.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/pointcloud.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/tetramesh.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/trianglemesh.cpp.o
[ 84%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/geometry/voxelgrid.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/io/class_io.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/io/io.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/io/rpc.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/ml/ml.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/ml/contrib/contrib_subsample.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/ml/contrib/contrib.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/ml/contrib/iou.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/pipelines.cpp.o
[ 85%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/color_map/color_map.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/integration/integration.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/odometry/odometry.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/registration/feature.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/registration/global_optimization.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/registration/registration.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pipelines/registration/robust_kernels.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/t.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/geometry.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/drawablegeometry.cpp.o
[ 86%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/image.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/lineset.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/pointcloud.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/boundingvolume.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/raycasting_scene.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/tensormap.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/trianglemesh.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/geometry/voxel_block_grid.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/io/class_io.cpp.o
[ 87%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/io/io.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/io/sensor.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/pipelines.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/odometry/odometry.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/registration/feature.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/registration/registration.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/registration/robust_kernel.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/slac/slac.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/t/pipelines/slam/slam.cpp.o
[ 88%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/utility/eigen.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/utility/logging.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/utility/random.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/utility/utility.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/renderoption.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/utility.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/viewcontrol.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/visualization.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/visualizer.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/rendering/material.cpp.o
[ 89%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/o3dvisualizer.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/app/viewer.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/gui/events.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/gui/gui.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/rendering/rendering.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/visualization/webrtc_server/webrtc_window_system.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/docstring.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/open3d_pybind.cpp.o
[ 90%] Building CXX object cpp/pybind/CMakeFiles/pybind.dir/pybind_utils.cpp.o
[ 90%] Linking CXX shared module ../../lib/Release/Python/cpu/pybind.cpython-310-x86_64-linux-gnu.so
[ 90%] Built target pybind
make: *** [Makefile:156: all] Error 2

Open3D, Python and System information

- Operating system: Ubuntu 22.04
- Python version: Python 3.10.12
- Open3D version: 
- System architecture: x86 
- Is this a remote workstation?: no
- How did you install Open3D?: build from source
- Compiler version (if built from source): gcc 11.4 / libc++-11 (llvm)

Additional information

Commit 1868f43 is fine; commit d8e079f <feat: upgrade curl, zlib, libpng to latest versions (https://github.com/isl-org/Open3D/pull/7021)> breaks the compilation.

[EwingKang]

Maybe related to: #7225

[MeirArani]

Also ran into this issue. Just decided to roll back to the aforementioned commit, which worked well

[will-44]

I have the same issue, thank you for the commit number !

[EwingKang]

I've checked my system with dpkg -L libzstd-dev, everything seems normal.
So, for those who want to build the latest commit, I found out that you can add a target zstd at the following line to make it built without issues.

Open3D/3rdparty/find_dependencies.cmake

Line 926 in d8e079f

target_link_libraries(3rdparty_curl INTERFACE 3rdparty_openssl)

What the workaround look like:

target_link_libraries(3rdparty_curl INTERFACE 3rdparty_openssl zstd)

However, I don't believe that this is the correct way of fixing this issue. I'm still quite clueless here.

[EwingKang]

FYI, I believe the problem arises during the building of the 3rd party library curl
During the building, the curl library calls this file (under location of build/curl/src/ext_curl/CMake/FindZstd.cmake
https://github.com/curl/curl/blob/master/CMake/FindZstd.cmake

I tried to print the ZSTD_LIBRARY_DIRS:

OTOH, I can found the system installed dpkg -L libzstd-dev and got the following location:

the libzstd.a is actually under /usr/lib/x86_64-linux-gnu and can be inspected with nm. /usr/lib do not contain any symbolic link to the .a file.
Again, I'm not sure if this relates to the issue, just report what I"m seeing here.

[peterdlakatos]

Maybe related to: #7225

Solved for me.