orbslam2 + opencv2 中的bug

最新推荐文章于 2025-05-10 03:56:56 发布

Operaboss

最新推荐文章于 2025-05-10 03:56:56 发布

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本文链接：https://blog.youkuaiyun.com/Operaboss/article/details/81632234

本文解决了一个关于OpenCV版本导致的编译错误问题，通过调整CMakeLists.txt文件中的OpenCV版本查找顺序，成功解决了undefined reference to symbol的问题。

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bug是：

/usr/bin/ld: CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o: undefined reference to symbol '_ZN2cv11FileStorageC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiS8_'
/usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/stereo_euroc.dir/build.make:162: recipe for target '../Examples/Stereo/stereo_euroc' failed
make[2]: *** [../Examples/Stereo/stereo_euroc] Error 1
CMakeFiles/Makefile2:289: recipe for target 'CMakeFiles/stereo_euroc.dir/all' failed
make[1]: *** [CMakeFiles/stereo_euroc.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o：在函数‘main’中：
mono_kitti.cc:(.text.startup+0x336)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/mono_kitti.dir/build.make:162: recipe for target '../Examples/Monocular/mono_kitti' failed
make[2]: *** [../Examples/Monocular/mono_kitti] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/mono_kitti.dir/all' failed
make[1]: *** [CMakeFiles/mono_kitti.dir/all] Error 2
CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o：在函数‘main’中：
stereo_kitti.cc:(.text.startup+0x3ee)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
stereo_kitti.cc:(.text.startup+0x583)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/stereo_kitti.dir/build.make:162: recipe for target '../Examples/Stereo/stereo_kitti' failed
make[2]: *** [../Examples/Stereo/stereo_kitti] Error 1
CMakeFiles/Makefile2:252: recipe for target 'CMakeFiles/stereo_kitti.dir/all' failed
make[1]: *** [CMakeFiles/stereo_kitti.dir/all] Error 2
CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o：在函数‘main’中：
mono_euroc.cc:(.text.startup+0x366)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/mono_euroc.dir/build.make:162: recipe for target '../Examples/Monocular/mono_euroc' failed
make[2]: *** [../Examples/Monocular/mono_euroc] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mono_euroc.dir/all' failed
make[1]: *** [CMakeFiles/mono_euroc.dir/all] Error 2
CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o：在函数‘main’中：
mono_tum.cc:(.text.startup+0x504)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o：在函数‘main’中：
rgbd_tum.cc:(.text.startup+0x5a4)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
rgbd_tum.cc:(.text.startup+0x8d7)：对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未�CMakeFiles/mono_tum.dir/build.make:162: recipe for target '../Examples/Monocular/mono_tum' failed
��make[2]: *** [../Examples/Monocular/mono_tum] Error 1
�的引用
collect2: error: ld returned 1 exit status
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/mono_tum.dir/all' failed
make[1]: *** [CMakeFiles/mono_tum.dir/all] Error 2
CMakeFiles/rgbd_tum.dir/build.make:162: recipe for target '../Examples/RGB-D/rgbd_tum' failed
make[2]: *** [../Examples/RGB-D/rgbd_tum] Error 1
CMakeFiles/Makefile2:215: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

为了这个问题查了一个下午，发现不过是opencv版本问题：

在ORBSLAM2中的CMakeLists.txt中，

find_package(OpenCV 2.4.9 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 3.4.1 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

不明白原理是什么，但是最好把你电脑中的opencv版本放在第一个find_package中，我ubuntu中的opencv版本为2.4.9；

因此调换了顺序，即成功编译了：

[ 65%] Building CXX object CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o
[ 68%] Building CXX object CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o
[ 71%] Building CXX object CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o
[ 75%] Building CXX object CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o
[ 78%] Building CXX object CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o
[ 81%] Building CXX object CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o
[ 84%] Linking CXX executable ../Examples/RGB-D/rgbd_tum
[ 87%] Linking CXX executable ../Examples/Stereo/stereo_euroc
[ 93%] Linking CXX executable ../Examples/Stereo/stereo_kitti
[ 93%] Linking CXX executable ../Examples/Monocular/mono_tum
[ 96%] Linking CXX executable ../Examples/Monocular/mono_kitti
[100%] Linking CXX executable ../Examples/Monocular/mono_euroc
[100%] Built target stereo_euroc
[100%] Built target rgbd_tum
[100%] Built target mono_kitti
[100%] Built target mono_tum
[100%] Built target mono_euroc
[100%] Built target stereo_kitti