slam十四讲中 Glog 错误信息

MarkovLGXu

已于 2023-02-23 13:58:35 修改

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分类专栏： C++ 编程文章标签： linux centos macos

于 2023-02-23 11:39:37 首次发布

本文链接：https://blog.csdn.net/Eagleest/article/details/129178074

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slam ch9

错误信息

1: /usr/bin/ld: cannot find -lGlog

2: undefined reference to `typeinfo for testing::Test‘

主要原因就是找不到对应的Glog的动态库文件

解决方案：

第一步：利用

sudo updatadb

locate libglog 获取路径，并填写在下面文件中；

第二步：

在cmke文件夹下面添加 FindGLOG.cmake文件

# Look for csparse; note the difference in the directory specifications!
FIND_PATH(GLOG_INCLUDE_DIR NAMES cs.h
  PATHS
  /usr/include/suitesparse
  /usr/include
  /opt/local/include
  /usr/local/include
  /sw/include
  /usr/local/include/glog/
  )

FIND_LIBRARY(GLOG_LIBRARY NAMES glog
  PATHS
  /usr/lib
  /usr/local/lib
  /opt/local/lib
  )

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(glog DEFAULT_MSG  GLOG_INCLUDE_DIR GLOG_LIBRARY)

第三步： CMakeLists.txt 修改如下：

cmake_minimum_required(VERSION 2.8)

project(bundle_adjustment)
# set(CMAKE_BUILD_TYPE "Release")
# SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")

SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")


set(CMAKE_CXX_FLAGS "-O3 -std=c++11")
set(CMAKE_CXX_STANDARD 14)




LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)


include_directories(${PROJECT_SOURCE_DIR} ${G2O_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${CSPARSE_INCLUDE_DIR} ${GLOG_INCLUDE_DIR})


set(FMT_LIBRARIES fmt::fmt)
Find_Package(G2O REQUIRED)
Find_Package(Eigen3 REQUIRED)
Find_Package(Ceres REQUIRED)
Find_Package(Glog  REQUIRED)
include_directories(BEFORE ${GLOG_INCLUDE_DIRS})
include_directories(${Ceres_INCLUDE_DIRS})
Find_Package(CSparse REQUIRED)
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

add_library(bal_common common.cpp)
add_executable(bundle_adjustment_g2o bundle_adjustment_g2o.cpp common.cpp)
add_executable(bundle_adjustment_ceres bundle_adjustment_ceres.cpp common.cpp)

target_link_libraries(bundle_adjustment_ceres ${CERES_LIBRARIES} bal_common)
target_link_libraries(bundle_adjustment_g2o ${G2O_LIBRARIES} ${FMT_LIBRARIES} ${GLOG_LIBRARIES})
target_link_libraries(bundle_adjustment_g2o  ${catkin_LIBRARIES} g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension fmt glog)

编译成功！！

问题2：

运行程序的时候报错误：

libglog.so.1: undefined symbol: _ZN6gflags14FlagRegistererC1IbEEPKcS3_S3_PT_S5_

ldd libglog.so.1 查看依赖关系；

删除这个文件重新编译安装ok