ref:https://blog.csdn.net/buknow/article/details/96130049
这块可以通过ldd -r命令查看生成的so是否存在符号未定义的内容。
ImportError: /home/os/catkin_ws/devel/lib/libaslam_cameras_april.so: undefined symbol: _ZN2cv6imshowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_11_InputArrayE
(1)使用file 命令查看 so库的架构,看看是否与平台一致
$ file libaslam_cameras_april.so
(2)通过 ldd -r xxx.so 命令查看so库链接状态和错误信息
ldd命令,可以查看对应的可执行文件或库文件依赖哪些库,但可执行文件或库文件要求与操作系统的编译器类型相同,即电脑是X86的GCC编译器,那么无法通过ldd命令查看ARM交叉编译器编译出来的可执行文件或库文件。
如果想在Ubuntu等Linux宿主机上查看ARM交叉编译好的可执行程序和库文件的相关依赖关系,可以通过以下命令:
readelf -d xxx.so | grep NEEDED
ldd -r libaslam_cameras_april_python.so
linux-vdso.so.1 (0x00007ffdbddce000)
libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007f3061675000)
libboost_python-py27.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_python-py27.so.1.65.1 (0x00007f3061435000)
libaslam_cameras_april.so => /home/os/catkin_ws/devel/lib/libaslam_cameras_april.so (0x00007f30610fa000)
libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007f304b692000)
undefined symbol: _ZN2cv6imshowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_11_InputArrayE (/home/os/catkin_ws/devel/lib/libaslam_cameras_april.so)
undefined symbol: _ZN2cv7putTextERKNS_17_InputOutputArrayERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_6Point_IiEEidNS_7Scalar_IdEEiib (/home/os/catkin_ws/devel/lib/libaslam_cameras_april.so)
undefined symbol: _ZN2cv11namedWindowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi (/home/os/catkin_ws/devel/lib/libaslam_cameras_april.so)
(3) 使用 c++filt symbol 定位错误在那个C++文件中
从上面的undefined symbol中,通过c++filt <symbol>,可以定位
c++filt _ZN2cv6imshowERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_11_InputArrayE
cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)