SLAM十四讲第二版ch6的未定义的引用问题

原创已于 2022-09-16 21:51:55 修改 · 1.1k 阅读

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于 2022-03-19 19:11:45 首次发布

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在使用《SLAM十四讲》第二版做题时，遇到g2o库编译问题，通过修改FindG20.cmake并调整编译路径，成功解决了对g2o::OptimizableGraph::Vertex和Edge的clone函数引用错误。分享详细的解决步骤和配置技巧。

在使用slam十四讲第二版做题的时候发现，ch6编译问题，特此记录如下。

make时遇到问题如下：

对‘g2o::OptimizableGraph::Vertex::clone() const’未定义的引用
对‘g2o::OptimizableGraph::Edge::clone() const’未定义的引用
CMakeFiles/g2oCurveFitting.dir/build.make:143: recipe for target 'g2oCurveFitting' failed
make[2]: *** [g2oCurveFitting] Error 1

发现g20的问题，所以我们在FindG20.cmake文件中作如下修改：

建议不要直接复制粘贴，对比后复制进入。


# Find the header files

FIND_PATH(G2O_INCLUDE_DIRS g2o/core/base_vertex.h
  ${G2O_ROOT}/include
  $ENV{G2O_ROOT}/include
  $ENV{G2O_ROOT}
  /usr/local/include
  /usr/include
  /opt/local/include
  /sw/local/include
  /sw/include
  NO_DEFAULT_PATH
  )

# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.

MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)

  FIND_LIBRARY("${MYLIBRARY}_DEBUG"
    NAMES "g2o_${MYLIBRARYNAME}_d"
    PATHS
    ${G2O_ROOT}/lib/Debug
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Debug
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

  FIND_LIBRARY("${MYLIBRARY}_DEBUG"
    NAMES "g2o_${MYLIBRARYNAME}_d"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    NO_DEFAULT_PATH
    )
  
  FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ${G2O_ROOT}/lib/Release
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Release
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

  FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    NO_DEFAULT_PATH
    )

然后再make编译，可以通过。