解决在Ubuntu系统下使用运行Lucid 相机(HTR003S-001)相应实例出现的依赖库缺失的问题

https://blog.csdn.net/m0_46090849/article/details/160031386?sharetype=blogdetail&sharerId=160031386&sharerefer=PC&sharesource=m0_46090849&spm=1011.2480.3001.8118

这篇文章讲了如何在ubuntu20.04中使用ArenaView MP，虽然已经运行成功，但是发现想要编译并运行C++实例还是遇到了一些问题。

问题一：编译链接阶段-间接依赖库缺失

错误现象：

root@yygpc:/opt/arena/ArenaSDK_Linux_x64/Examples/Arena/Cpp_Acquisition# make

g++ -L../../../lib64 -L../../../GenICam/library/lib/Linux64_x64 -L../../../ffmpeg -L../../../OpenCV/lib -lopencv_calib3d -lopencv_core -lopencv_features2d -lopencv_highgui -lopencv_imgproc -lopencv_video Cpp_Acquisition.o stdafx.o -o Cpp_Acquisition -larena -lsave -lgentl -lGCBase_gcc54_v3_3_LUCID -lGenApi_gcc54_v3_3_LUCID -lLog_gcc54_v3_3_LUCID -llog4cpp_gcc54_v3_3_LUCID -lMathParser_gcc54_v3_3_LUCID -lNodeMapData_gcc54_v3_3_LUCID -lXmlParser_gcc54_v3_3_LUCID -lavcodec -lavformat -lavutil -lswresample -lpthread -llucidlog -L../../../OpenCV/lib -lopencv_calib3d -lopencv_core -lopencv_features2d -lopencv_highgui -lopencv_imgproc -lopencv_video

/usr/bin/ld: warning: libopencv_flann.so.4.0, needed by ../../../lib64/libopencv_calib3d.so, not found (try using -rpath or -rpath-link)

/usr/bin/ld: warning: libmetavision_sdk_core.so.4, needed by ../../../lib64/libgentl.so, not found (try using -rpath or -rpath-link)

/usr/bin/ld: warning: libmetavision_sdk_base.so.4, needed by ../../../lib64/libgentl.so, not found (try using -rpath or -rpath-link)

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::Index::~Index()'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setFloat(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, float)'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::KDTreeIndexParams::KDTreeIndexParams(int)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::add_events(Metavision::EventCD const*, Metavision::EventCD const*)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::~CDFrameGenerator()'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::Index::knnSearch(cv::_InputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, int, cv::flann::SearchParams const&)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::RateEstimator::add_data(long long, unsigned long)'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::IndexParams()'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::CDFrameGenerator(long, long, bool)'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::getAll(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&, std::vector<cv::flann::FlannIndexType, std::allocator<cv::flann::FlannIndexType> >&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&, std::vector<double, std::allocator<double> >&) const'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setBool(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::~IndexParams()'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::start(unsigned short, std::function<void (long long, cv::Mat&)> const&)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::RateEstimator::RateEstimator(std::function<void (long long, double, double)> const&, long long, long long, bool)'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::SearchParams::SearchParams(int, float, bool)'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setDouble(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double)'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setAlgorithm(int)'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::LinearIndexParams::LinearIndexParams()'

/usr/bin/ld: ../../../lib64/libopencv_features2d.so: undefined reference to `cv::flann::IndexParams::setString(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::Index::Index(cv::_InputArray const&, cv::flann::IndexParams const&, cvflann::flann_distance_t)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::stop()'

/usr/bin/ld: ../../../lib64/libopencv_calib3d.so: undefined reference to `cv::flann::IndexParams::~IndexParams()'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::set_display_accumulation_time_us(long long)'

/usr/bin/ld: ../../../lib64/libgentl.so: undefined reference to `Metavision::CDFrameGenerator::set_colors(cv::Scalar_<double> const&, cv::Scalar_<double> const&, cv::Scalar_<double> const&, bool)'

collect2: error: ld returned 1 exit status

make: *** $../common.mk:97: Cpp_Acquisition$ Error 1

原因分析：

SDK 自带 OpenCV 库和 Metavision 库存放在 lib64、OpenCV/lib、Metavision/lib 等非系统标准路径下。
链接器通过 -L 选项能找到直接指定的库（如 -larena），但对于这些库自身依赖的间接库（如 libopencv_flann.so），链接器不会自动使用 -L 路径去搜索。
需要使用 -Wl,-rpath-link 选项告知链接器间接依赖库的搜索路径。

解决方案：

修改 common.mk 文件，在 LDFLAGS 中添加 -Wl,-rpath-link 选项指向 SDK 提供的库目录

bash 复制代码

LDFLAGS = -L../../../lib64 \
          -L../../../GenICam/library/lib/Linux64_x64 \
          -L../../../ffmpeg \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/lib64 \
          -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/lib64 \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/Metavision/lib \
          -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/Metavision/lib \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/OpenCV/lib \
          -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/OpenCV/lib \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/GenICam/library/lib/Linux64_x64 \
          -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/GenICam/library/lib/Linux64_x64 \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/ffmpeg \
          -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/ffmpeg \
		  $(LIB_OPENCV_SHARED)

注意看自己是什么系统，我是amd64就在这个条件下修改 ifeq ($(ARCH_TYPE), amd64)

同时，针对 C++11 ABI 兼容性问题（出现 std::__cxx11::basic_string 符号），修改CFLAGS ：

bash 复制代码

CFLAGS=-Wall -g -O2 -std=c++11 -Wno-unknown-pragmas -D_GLIBCXX_USE_CXX11_ABI=0

问题二：运行时阶段-动态库找不到（libarena.so.1 liblucidlog.so.1、libGenApi_gcc54_v3_3_LUCID.so）

错误现象：

./Cpp_Acquisition: error while loading shared libraries: libarena.so.1: cannot open shared object file: No such file or directory

原因分析：

编译成功，但运行时动态链接器只在系统默认路径（/lib、/usr/lib 等）中查找共享库，无法找到 SDK 自定义路径下的库文件。
编译时添加的 -rpath-link 仅作用于链接阶段，不写入可执行文件；运行时需要 -rpath 或 LD_LIBRARY_PATH 环境变量。

解决方案：

在common.mk文件的OUTDIR = ../../../OutputDirectory/Linux/x64Release/语句后面另起一行，加上

bash 复制代码

# 固化运行时库搜索路径
LIBS += -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/lib64 \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/Metavision/lib \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/OpenCV/lib \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/GenICam/library/lib/Linux64_x64 \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/ffmpeg

最终修改汇总（common.mk 中 amd64 部分）

bash 复制代码

ifeq ($(ARCH_TYPE), amd64)

OPENCV_ROOT_PATH = ../../../OpenCV
    INC_OPENCV_PATH = -I$(OPENCV_ROOT_PATH)/include
    LIB_OPENCV_SHARED = -L$(OPENCV_ROOT_PATH)/lib \
                    -lopencv_calib3d \
                    -lopencv_core \
                    -lopencv_features2d \
                    -lopencv_highgui \
                    -lopencv_imgproc \
                    -lopencv_video

LDFLAGS = -L../../../lib64 \
          -L../../../GenICam/library/lib/Linux64_x64 \
          -L../../../ffmpeg \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/lib64 \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/Metavision/lib \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/OpenCV/lib \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/GenICam/library/lib/Linux64_x64 \
          -Wl,-rpath-link=/opt/arena/ArenaSDK_Linux_x64/ffmpeg \
		  $(LIB_OPENCV_SHARED)
          
GENICAMLIBS = -lGCBase_gcc54_v3_3_LUCID \
              -lGenApi_gcc54_v3_3_LUCID \
              -lLog_gcc54_v3_3_LUCID \
              -llog4cpp_gcc54_v3_3_LUCID \
              -lMathParser_gcc54_v3_3_LUCID \
              -lNodeMapData_gcc54_v3_3_LUCID \
              -lXmlParser_gcc54_v3_3_LUCID

OUTDIR = ../../../OutputDirectory/Linux/x64Release/

# 固化运行时库搜索路径
LIBS += -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/lib64 \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/Metavision/lib \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/OpenCV/lib \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/GenICam/library/lib/Linux64_x64 \
        -Wl,-rpath=/opt/arena/ArenaSDK_Linux_x64/ffmpeg

endif

全局编译修改选项（解决ABI兼容性）：

bash 复制代码

CFLAGS=-Wall -g -O2 -std=c++11 -Wno-unknown-pragmas -D_GLIBCXX_USE_CXX11_ABI=0

重新编译，运行即可。