绘图知识（二）：为客户端窗口设置缓冲区

最新推荐文章于 2025-09-10 20:03:14 发布
转载 最新推荐文章于 2025-09-10 20:03:14 发布 · 674 阅读 · 1
文章标签：

#symbian #ui #os

本文介绍了SymbianOS中缓冲区容量的变化及其调整方法。从GT版到60系列，缓冲区容量从640字节提升到了6400字节，并且允许应用程序动态调整缓冲区大小。通过示例代码展示了如何使用ConstructL函数设置更大的缓冲区容量。
在Symbian OS的GT版中，缓冲区容量是固定的640字节。60系列将缓冲区提高到了6400字节，并支持应用程序改变该缓冲区的容量。当绘制过程由许多绘制函数或大量文本组成时，大容量的缓冲区在各种应用中特别有价值。闪烁淡出中的情况就是如此。可以通过应用程序用户界面类中的ConstructL来改变缓冲区的容量。

ConstructL来改变缓冲区的容量。

void CMyAppUi::ConstructL()
{
BaseConstructL();
//调用BaseContructL后可以设置WS缓冲区大小
RWsSession &ws = iEikonEnv->WsSession();
TInt bufsize = 10000;
ws.SetBufferSizeL(bufsize);
//继续进行一般的app UI构建
iMyView = new ( ELeave ) CMyMainView;
iMyView->ConstructL( ClientRect() );
AddToStackL( iMyView );
}


 
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/usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o：在函数‘cartographer::common::PrintSubdictionaryById(cartographer::common::LuaParameterDictionary*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中： print_configuration_main.cc:(.text+0x2c3)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text+0x84d)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o：在函数‘absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty>::ConvertToContainer<std::vector<std::basic_string_view<char, std::char_traits<char> >, std::allocator<std::basic_string_view<char, std::char_traits<char> > > >, std::basic_string_view<char, std::char_traits<char> >, false>::operator()(absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty> const&) const’中： print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x105)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x20d)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 collect2: error: ld returned 1 exit status [266/381] Linking CXX executable cartographer_pbstream FAILED: cartographer_pbstream : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_pbstream.dir/cartographer/io/pbstream_main.cc.o -o cartographer_pbstream libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : libcartographer.a(histogram.cc.o)：在函数‘cartographer::common::Histogram::ToString[abi:cxx11](int) const’中： histogram.cc:(.text+0x3f4)：对‘absl::strings_internal::CatPieces[abi:cxx11](std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 histogram.cc:(.text+0xb60)：对‘absl::strings_internal::AppendPieces(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 collect2: error: ld returned 1 exit status [282/381] Building CXX object CMakeFiles/car...nal/3d/local_trajectory_builder_3d_test.cc.o ninja: build stopped: subcommand failed. [2/104] Linking CXX executable cartographer_print_configuration FAILED: cartographer_print_configuration : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o -o cartographer_print_configuration libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o：在函数‘cartographer::common::PrintSubdictionaryById(cartographer::common::LuaParameterDictionary*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中： print_configuration_main.cc:(.text+0x2c3)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text+0x84d)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o：在函数‘absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty>::ConvertToContainer<std::vector<std::basic_string_view<char, std::char_traits<char> >, std::allocator<std::basic_string_view<char, std::char_traits<char> > > >, std::basic_string_view<char, std::char_traits<char> >, false>::operator()(absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty> const&) const’中： print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x105)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x20d)：对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 collect2: error: ld returned 1 exit status [3/104] Linking CXX executable cartographer.transform.rigid_transform_test FAILED: cartographer.transform.rigid_transform_test : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o -o cartographer.transform.rigid_transform_test libcartographer.a /usr/local/lib/libgmock_main.a /usr/local/lib/libgmock.a /usr/local/lib/libgtest.a -lpthread libcartographer_test_library.a libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread /usr/local/lib/libgmock.a && : CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o：在函数‘std::ostream& cartographer::transform::operator<< <double>(std::ostream&, cartographer::transform::Rigid2<double> const&)’中： rigid_transform_test.cc:(.text._ZN12cartographer9transformlsIdEERSoS2_RKNS0_6Rigid2IT_EE[_ZN12cartographer9transformlsIdEERSoS2_RKNS0_6Rigid2IT_EE]+0x110)：对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o：在函数‘std::ostream& cartographer::transform::operator<< <float>(std::ostream&, cartographer::transform::Rigid2<float> const&)’中： rigid_transform_test.cc:(.text._ZN12cartographer9transformlsIfEERSoS2_RKNS0_6Rigid2IT_EE[_ZN12cartographer9transformlsIfEERSoS2_RKNS0_6Rigid2IT_EE]+0x11c)：对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o：在函数‘cartographer::transform::Rigid3<double>::DebugString[abi:cxx11]() const’中： rigid_transform_test.cc:(.text._ZNK12cartographer9transform6Rigid3IdE11DebugStringB5cxx11Ev[_ZNK12cartographer9transform6Rigid3IdE11DebugStringB5cxx11Ev]+0x20f)：对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o：在函数‘cartographer::transform::Rigid3<float>::DebugString[abi:cxx11]() const’中： rigid_transform_test.cc:(.text._ZNK12cartographer9transform6Rigid3IfE11DebugStringB5cxx11Ev[_ZNK12cartographer9transform6Rigid3IfE11DebugStringB5cxx11Ev]+0x22b)：对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o：在函数‘cartographer::transform::IsNearlyMatcherP2<cartographer::transform::Rigid2<float>, float>::gmock_Impl<cartographer::transform::Rigid2<float> const&>::FormatDescription[abi:cxx11](bool) const’中： rigid_transform_test.cc:(.text._ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IfEEfE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb[_ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IfEEfE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb]+0x17f)：对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:(.text._ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IdEEdE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb[_ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IdEEdE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb]+0x173): 跟着更多未定义的参考到 absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long) collect2: error: ld returned 1 exit status [4/104] Linking CXX executable cartographer_pbstream FAILED: cartographer_pbstream : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_pbstream.dir/cartographer/io/pbstream_main.cc.o -o cartographer_pbstream libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : libcartographer.a(histogram.cc.o)：在函数‘cartographer::common::Histogram::ToString[abi:cxx11](int) const’中： histogram.cc:(.text+0x3f4)：对‘absl::strings_internal::CatPieces[abi:cxx11](std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 histogram.cc:(.text+0xb60)：对‘absl::strings_internal::AppendPieces(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 collect2: error: ld returned 1 exit status [19/104] Building CXX object CMakeFiles/cart...unctions/landmark_cost_function_3d_test.cc.o ninja: build stopped: subcommand failed. u1804@u1804-Lenovo-Legion-R9000K2021H:~/study/cartographer_install$
08-21
在构建Cartographer时，如果遇到链接错误如`undefined reference to 'absl::substitute_internal::SubstituteAndAppendArray'`，这通常表明编译器未能找到或正确链接Google的Abseil库。此类问题在Ubuntu 20.04与ROS Noetic环境下尤为常见。 ### 原因分析 该问题的核心原因在于Abseil库的版本不匹配或未被正确链接。Cartographer依赖于特定版本的Abseil（如`lts_20211102`），如果系统中未安装该版本，或者CMake未能正确识别其路径，将导致链接失败。此外，某些情况下即使安装了正确的版本，也可能因构建缓存残留或依赖项缺失而引发类似错误。 ### 解决方法 #### 1. 安装指定版本的Abseil Cartographer项目通常提供了一个脚本来简化Abseil的安装过程。执行以下命令可以下载并安装与Cartographer兼容的Abseil版本： ```bash cd ~/cartographer_ws/src/cartographer/scripts ./install_abseil.sh ``` 该脚本会将Abseil安装到本地路径，避免与系统中其他版本冲突[^3]。 #### 2. 清理构建缓存并重新构建 旧的构建缓存可能导致编译器尝试链接错误的Abseil版本或未更新的符号表。执行以下命令清理并重新构建： ```bash cd ~/cartographer_ws rm -rf build devel catkin_make_isolated --install --use-ninja ``` #### 3. 显式链接Abseil库 在CMake配置中，确保`find_package(absl REQUIRED)`被正确调用，并且目标文件显式链接了所需的Abseil组件。例如，在`CMakeLists.txt`中添加： ```cmake set(absl_LIBRARIES absl::algorithm absl::base absl::debugging absl::flat_hash_map absl::memory absl::meta absl::numeric absl::str_format absl::strings absl::synchronization absl::time absl::utility ) target_link_libraries(your_target_name ${absl_LIBRARIES}) ``` 这可以确保所有必要的Abseil模块都被正确链接[^3]。 #### 4. 检查Abseil的安装路径 如果Abseil被安装到非标准路径，可以在构建时通过`-DABSL_ROOT`指定其位置： ```bash catkin_make_isolated --install --use-ninja -DABSL_ROOT=/path/to/abseil ``` #### 5. 验证Abseil是否正确安装 可以通过一个简单的测试程序验证Abseil是否正确安装并链接： ```cpp #include "absl/strings/str_cat.h" #include <iostream> int main() { std::string result = absl::StrCat("Hello, ", "Abseil!"); std::cout << result << std::endl; return 0; } ``` 使用以下命令编译并链接Abseil： ```bash g++ test_abseil.cpp -o test_abseil -I/path/to/abseil -L/path/to/abseil/build -labsl_strings ``` 如果程序能正常运行并输出`Hello, Abseil!`，则表明Abseil已正确安装和链接。 --- ###
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