Default PCL shipped with ROS Noetic is incompatible with the PCL interface usage in the CMakeLists

[nkhedekar]

Error Log

Click here for full output

1.740 CMake Error at CMakeLists.txt:62 (set_target_properties):
1.740   Property INTERFACE_LINK_LIBRARIES may not contain link-type keyword
1.740   "optimized".  The INTERFACE_LINK_LIBRARIES property may contain
1.740   configuration-sensitive generator-expressions which may be used to specify
1.740   per-configuration rules.

small_gicp$ docker build -t sg_image --build-arg BASE_IMAGE=ros:noetic -f docker/Dockerfile.build.gcc .
[+] Building 2.5s (10/11)                                                                                                                                                                                                                                                  docker:default
 => [internal] load build definition from Dockerfile.build.gcc                                                                                                                                                                                                                       0.0s
 => => transferring dockerfile: 595B                                                                                                                                                                                                                                                 0.0s
 => [internal] load metadata for docker.io/library/ros:noetic                                                                                                                                                                                                                        0.4s
 => [internal] load .dockerignore                                                                                                                                                                                                                                                    0.0s
 => => transferring context: 2B                                                                                                                                                                                                                                                      0.0s
 => [1/8] FROM docker.io/library/ros:noetic@sha256:20b337f10f4275a6d589388cf8f72a7216de2ba3632b10d9d05c205c65446b8a                                                                                                                                                                  0.0s
 => [internal] load build context                                                                                                                                                                                                                                                    0.0s
 => => transferring context: 41.57kB                                                                                                                                                                                                                                                 0.0s
 => CACHED [2/8] RUN apt-get update && apt-get install --no-install-recommends -y   && apt-get install --no-install-recommends -y   wget nano build-essential git cmake   libeigen3-dev libfmt-dev libtbb-dev libomp-dev libgtest-dev ros-noetic-pcl-ros   && apt-get clean   && rm  0.0s
 => [3/8] COPY . /root/small_gicp                                                                                                                                                                                                                                                    0.0s
 => [4/8] WORKDIR /root/small_gicp/build                                                                                                                                                                                                                                             0.0s
 => [5/8] RUN rm -rf ./*                                                                                                                                                                                                                                                             0.2s
 => ERROR [6/8] RUN cmake .. -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON                                                                                                                                                                                                                 1.8s
------                                                                                                                                                                                                                                                                                    
 > [6/8] RUN cmake .. -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON:                                                                                                                                                                                                                            
0.370 -- The C compiler identification is GNU 9.4.0                                                                                                                                                                                                                                       
0.402 -- The CXX compiler identification is GNU 9.4.0                                                                                                                                                                                                                                     
0.405 -- Check for working C compiler: /usr/bin/cc                                                                                                                                                                                                                                        
0.469 -- Check for working C compiler: /usr/bin/cc -- works                                                                                                                                                                                                                               
0.471 -- Detecting C compiler ABI info
0.593 -- Detecting C compiler ABI info - done
0.615 -- Detecting C compile features
0.615 -- Detecting C compile features - done
0.620 -- Check for working CXX compiler: /usr/bin/c++
0.758 -- Check for working CXX compiler: /usr/bin/c++ -- works
0.760 -- Detecting CXX compiler ABI info
0.894 -- Detecting CXX compiler ABI info - done
0.916 -- Detecting CXX compile features
0.917 -- Detecting CXX compile features - done
1.214 -- Found OpenMP_C: -fopenmp (found version "4.5") 
1.368 -- Found OpenMP_CXX: -fopenmp (found version "4.5") 
1.369 -- Found OpenMP: TRUE (found version "4.5")  
1.387 -- Checking for module 'eigen3'
1.396 --   Found eigen3, version 3.3.7
1.449 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") 
1.449 -- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
1.505 -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex 
1.519 -- Checking for module 'flann'
1.528 --   Found flann, version 1.9.1
1.588 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so  
1.650 -- The imported target "vtkParseOGLExt" references the file
1.650    "/usr/bin/vtkParseOGLExt-7.1"
1.650 but this file does not exist.  Possible reasons include:
1.650 * The file was deleted, renamed, or moved to another location.
1.650 * An install or uninstall procedure did not complete successfully.
1.650 * The installation package was faulty and contained
1.650    "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
1.650 but not all the files it references.
1.650 
1.651 -- The imported target "vtkRenderingPythonTkWidgets" references the file
1.651    "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
1.651 but this file does not exist.  Possible reasons include:
1.651 * The file was deleted, renamed, or moved to another location.
1.651 * An install or uninstall procedure did not complete successfully.
1.651 * The installation package was faulty and contained
1.651    "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
1.651 but not all the files it references.
1.651 
1.652 -- The imported target "vtk" references the file
1.652    "/usr/bin/vtk"
1.652 but this file does not exist.  Possible reasons include:
1.652 * The file was deleted, renamed, or moved to another location.
1.652 * An install or uninstall procedure did not complete successfully.
1.652 * The installation package was faulty and contained
1.652    "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
1.652 but not all the files it references.
1.652 
1.652 -- The imported target "pvtk" references the file
1.652    "/usr/bin/pvtk"
1.652 but this file does not exist.  Possible reasons include:
1.652 * The file was deleted, renamed, or moved to another location.
1.652 * An install or uninstall procedure did not complete successfully.
1.652 * The installation package was faulty and contained
1.652    "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
1.652 but not all the files it references.
1.652 
1.664 -- Checking for module 'libusb-1.0'
1.666 --   No package 'libusb-1.0' found
1.668 -- Could NOT find USB_10 (missing: USB_10_LIBRARY USB_10_INCLUDE_DIR) 
1.668 -- OpenNI disabled because libusb-1.0 not found.
1.668 ** WARNING ** io features related to openni will be disabled
1.670 -- Checking for module 'libusb-1.0'
1.672 --   No package 'libusb-1.0' found
1.673 -- Could NOT find USB_10 (missing: USB_10_LIBRARY USB_10_INCLUDE_DIR) 
1.673 -- OpenNI 2 disabled because libusb-1.0 not found.
1.674 ** WARNING ** io features related to openni2 will be disabled
1.674 ** WARNING ** io features related to pcap will be disabled
1.674 ** WARNING ** io features related to png will be disabled
1.682 ** WARNING ** io features related to libusb-1.0 will be disabled
1.682 -- LIBUSB_1_LIBRARY (missing: LIBUSB_1_INCLUDE_DIR) 
1.685 -- Checking for module 'libusb-1.0'
1.687 --   No package 'libusb-1.0' found
1.688 -- Could NOT find USB_10 (missing: USB_10_LIBRARY USB_10_INCLUDE_DIR) 
1.688 -- OpenNI disabled because libusb-1.0 not found.
1.688 ** WARNING ** visualization features related to openni will be disabled
1.691 -- Checking for module 'libusb-1.0'
1.693 --   No package 'libusb-1.0' found
1.694 -- Could NOT find USB_10 (missing: USB_10_LIBRARY USB_10_INCLUDE_DIR) 
1.694 -- OpenNI 2 disabled because libusb-1.0 not found.
1.694 ** WARNING ** visualization features related to openni2 will be disabled
1.706 -- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so  
1.706 -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
1.709 -- Checking for module 'libusb-1.0'
1.711 --   No package 'libusb-1.0' found
1.712 -- Could NOT find USB_10 (missing: USB_10_LIBRARY USB_10_INCLUDE_DIR) 
1.712 -- OpenNI disabled because libusb-1.0 not found.
1.712 ** WARNING ** apps features related to openni will be disabled
1.721 -- looking for PCL_COMMON
1.721 -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  
1.721 -- looking for PCL_KDTREE
1.722 -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
1.722 -- looking for PCL_OCTREE
1.723 -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
1.723 -- looking for PCL_SEARCH
1.724 -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
1.724 -- looking for PCL_SAMPLE_CONSENSUS
1.725 -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
1.725 -- looking for PCL_FILTERS
1.725 -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
1.726 -- looking for PCL_2D
1.726 -- Found PCL_2D: /usr/include/pcl-1.10  
1.726 -- looking for PCL_GEOMETRY
1.726 -- Found PCL_GEOMETRY: /usr/include/pcl-1.10  
1.726 -- looking for PCL_IO
1.727 -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
1.727 -- looking for PCL_FEATURES
1.728 -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
1.728 -- looking for PCL_ML
1.728 -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so  
1.729 -- looking for PCL_SEGMENTATION
1.729 -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
1.729 -- looking for PCL_VISUALIZATION
1.730 -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so  
1.730 -- looking for PCL_SURFACE
1.731 -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
1.731 -- looking for PCL_REGISTRATION
1.731 -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
1.732 -- looking for PCL_KEYPOINTS
1.732 -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so  
1.733 -- looking for PCL_TRACKING
1.733 -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so  
1.734 -- looking for PCL_RECOGNITION
1.734 -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so  
1.734 -- looking for PCL_STEREO
1.735 -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so  
1.735 -- looking for PCL_APPS
1.736 -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so  
1.736 -- looking for PCL_IN_HAND_SCANNER
1.737 -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10  
1.737 -- looking for PCL_POINT_CLOUD_EDITOR
1.737 -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10  
1.737 -- looking for PCL_OUTOFCORE
1.738 -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so  
1.738 -- looking for PCL_PEOPLE
1.739 -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so  
1.740 -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN  
1.740 CMake Error at CMakeLists.txt:62 (set_target_properties):
1.740   Property INTERFACE_LINK_LIBRARIES may not contain link-type keyword
1.740   "optimized".  The INTERFACE_LINK_LIBRARIES property may contain
1.740   configuration-sensitive generator-expressions which may be used to specify
1.740   per-configuration rules.
1.740 
1.740 
1.742 -- Configuring incomplete, errors occurred!
1.742 See also "/root/small_gicp/build/CMakeFiles/CMakeOutput.log".
------
Dockerfile.build.gcc:18
--------------------
  16 |     RUN rm -rf ./*
  17 |     
  18 | >>> RUN cmake .. -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON
  19 |     RUN cmake --build . -j$(nproc)
  20 |     
--------------------
ERROR: failed to solve: process "/bin/sh -c cmake .. -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON" did not complete successfully: exit code: 1

Steps to reproduce

1. Add ros-noetic-pcl-ros in the packages to be installed in the dockerfile.
2. Add the -DBUILD_WITH_PCL=ON flag
3. Build the docker image with ros:noetic image

[nkhedekar]

This may be relevant: PointCloudLibrary/pcl#3341
The bundled PCL is 1.10.0 in ROS noetic which should have the fix (PointCloudLibrary/pcl@2e4cc61) but perhaps I'm missing something

[koide3]

Dealing with old PCL is always tough... Fortunately, -DBUILD_WITH_PCL=ON is only required for building test, example, and benchmark programs. small_gicp and its helper library do not depend on PCL, you can keep it disabled.

Note that small_gicp's PCL interface (small_gicp::RegistrationPCL) has a compatibility issue with PCL older than 1.11 that uses boost::shared_ptr but not std::shared_ptr. We may need to slightly change the code to use it with an older PCL.

[nkhedekar]

Yep. The latter could perhaps be fixed by something on the lines of

#include <pcl/pcl_config.h>

#if PCL_VERSION_COMPARE(<, 1, 11, 0)
 typedef shared_ptr boost::shared_ptr
#else
 typedef shared_ptr std::shared_ptr
#endif

and then just use shared_ptr everywhere

[LimHyungTae]

@nkhedekar That's a pretty nice solution, bro!