：对‘g2o::VertexSE3::VertexSE3()’未定义的引用

jxxlxx

于 2019-11-12 15:14:13 发布

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分类专栏： SLAM

本文链接：https://blog.youkuaiyun.com/qq_40267214/article/details/103029434

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ADD_EXECUTABLE( visualOdometry visualOdometry.cpp)
TARGET_LINK_LIBRARIES( visualOdometry
    slambase
    ${OpenCV_LIBS} 
    ${PCL_LIBRARIES} 
    ${CSPARSE_LIBRARY}
    ${Sophus_LIBRARIES}
    g2o_core g2o_stuff g2o_types_sba 
    g2o_csparse_extension g2o_solver_csparse
    cholmod g2o_solver_cholmod
)

我解决这个问题的方法是在链接库加一个

g2o_types_slam3d

即：

ADD_EXECUTABLE( visualOdometry visualOdometry.cpp)
TARGET_LINK_LIBRARIES( visualOdometry
    slambase
    ${OpenCV_LIBS} 
    ${PCL_LIBRARIES} 
    ${CSPARSE_LIBRARY}
    ${Sophus_LIBRARIES}
    g2o_core g2o_stuff g2o_types_sba g2o_types_slam3d 
    g2o_csparse_extension g2o_solver_csparse
    cholmod g2o_solver_cholmod
)