Hi, I had a problem with OpenCL under OS X 10.6.5. Whenever I tried to rosrun a program that dependet on OpenCL I got the following error message: rosrun image_view image_view dyld: Library not loaded: libopencv_core.2.1.dylib Referenced from: /Users/lazewatskyd/ros/stacks/image_pipeline/ image_view/bin/image_view Reason: image not found After some google research, I found out, that I was not the first person with that problem. Long story short, I found a script and modified it so that it would fix my problem. In case someone else has the same problem do the following steps: 1) Save the script into a file and remember the path to it (in this example /path/to/mac_fix) 2) roscd into you opencv2 directory: roscd opencv2 3) Call the script: bash /path/to/mac_fix 4) Recompile the rospackages which depend on opencv I hope this helps someone. Greets Julian And here the modified script (original script is from the embedded-control-library http://embedded-control-library.googlecode.com/svn/trunk/ecl_vision/opencv_embedded./opencv ): -------------------------------------------- #! /bin/bash # On Mac OSX, every dynamic library (*.dylib) has its own 'install name', # and it is used for locating the actual library file at runtime. # The install name shows up at the first line of the output of 'otool -L '. # When a program or a library is linked with other libraries, it copies # all the install names of the other libraries, so that it can find them in run-time. # # For an unknown reason, in our customised OpenCV package, 'opencv_embedded', # the dynamic libraries do not have full path information in their install names. # This results in the 'image not found' error at runtime. # This script (only for Mac OSX) fixes this problem by changing the install names. if [ "`uname`" == "Darwin" ]; then install_name_tool -id `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_core.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_calib3d.2.1.dylib opencv/lib/libopencv_calib3d.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_contrib.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_features2d.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_highgui.2.1.dylib opencv/lib/libopencv_highgui.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_imgproc.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_legacy.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_ml.2.1.dylib opencv/lib/libopencv_ml.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_objdetect.2.1.dylib opencv/lib/libopencv_objdetect.2.1.dylib install_name_tool -id `pwd`/opencv/lib/libopencv_video.2.1.dylib opencv/lib/libopencv_video.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_core.2.1.dylib install_name_tool -change libopencv_calib3d.2.1.dylib `pwd`/opencv/lib/libopencv_calib3d.2.1.dylib opencv/lib/libopencv_calib3d.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_calib3d.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_calib3d.2.1.dylib install_name_tool -change libopencv_contrib.2.1.dylib `pwd`/opencv/lib/libopencv_contrib.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_calib3d.2.1.dylib `pwd`/opencv/lib/libopencv_calib3d.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_features2d.2.1.dylib `pwd`/opencv/lib/libopencv_features2d.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_highgui.2.1.dylib `pwd`/opencv/lib/libopencv_highgui.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_ml.2.1.dylib `pwd`/opencv/lib/libopencv_ml.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_video.2.1.dylib `pwd`/opencv/lib/libopencv_video.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_objdetect.2.1.dylib `pwd`/opencv/lib/libopencv_objdetect.2.1.dylib opencv/lib/libopencv_contrib.2.1.dylib install_name_tool -change libopencv_features2d.2.1.dylib `pwd`/opencv/lib/libopencv_features2d.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -change libopencv_calib3d.2.1.dylib `pwd`/opencv/lib/libopencv_calib3d.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -change libopencv_highgui.2.1.dylib `pwd`/opencv/lib/libopencv_highgui.2.1.dylib opencv/lib/libopencv_features2d.2.1.dylib install_name_tool -change libopencv_highgui.2.1.dylib `pwd`/opencv/lib/libopencv_highgui.2.1.dylib opencv/lib/libopencv_highgui.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_highgui.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_highgui.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_imgproc.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_imgproc.2.1.dylib install_name_tool -change libopencv_legacy.2.1.dylib `pwd`/opencv/lib/libopencv_legacy.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_calib3d.2.1.dylib `pwd`/opencv/lib/libopencv_calib3d.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_features2d.2.1.dylib `pwd`/opencv/lib/libopencv_features2d.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_highgui.2.1.dylib `pwd`/opencv/lib/libopencv_highgui.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_video.2.1.dylib `pwd`/opencv/lib/libopencv_video.2.1.dylib opencv/lib/libopencv_legacy.2.1.dylib install_name_tool -change libopencv_ml.2.1.dylib `pwd`/opencv/lib/libopencv_ml.2.1.dylib opencv/lib/libopencv_ml.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_ml.2.1.dylib install_name_tool -change libopencv_objdetect.2.1.dylib `pwd`/opencv/lib/libopencv_objdetect.2.1.dylib opencv/lib/libopencv_objdetect.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_objdetect.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_objdetect.2.1.dylib install_name_tool -change libopencv_video.2.1.dylib `pwd`/opencv/lib/libopencv_video.2.1.dylib opencv/lib/libopencv_video.2.1.dylib install_name_tool -change libopencv_core.2.1.dylib `pwd`/opencv/lib/libopencv_core.2.1.dylib opencv/lib/libopencv_video.2.1.dylib install_name_tool -change libopencv_imgproc.2.1.dylib `pwd`/opencv/lib/libopencv_imgproc.2.1.dylib opencv/lib/libopencv_video.2.1.dylib echo "Install names have been changed in opencv/lib/*.dylib files" fi