r3live 编译踩坑解决方法

最新推荐文章于 2023-12-26 20:46:22 发布

Lkilvin

最新推荐文章于 2023-12-26 20:46:22 发布

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文章标签： opencv c++ 自动驾驶

本文链接：https://blog.csdn.net/Lkilvin/article/details/132581732

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在r3live编译过程中，根据

R3LIVE编译运行和代码分析_52HZ、的博客-CSDN博客

中进行相关环境的配置后进行catkin_make

中途报错

CMakeFiles/r3live_mapping.dir/src/r3live.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_15PointXYZINormalEEE[_ZTVN3pcl9VoxelGridINS_15PointXYZINormalEEE]+0x48)：对‘pcl::VoxelGrid<pcl::PointXYZINormal>::applyFilter(pcl::PointCloud<pcl::PointXYZINormal>&)’未定义的引用

尝试使用GPT解决

以为问题为Ubuntu18.04中ros自带的pcl1.8无该函数，安装pcl1.10中重链接，但仍报此错

后续再次检查cmakelist发现

target_link_libraries(r3live_mapping 
                          ${catkin_LIBRARIES}
                          ${Boost_LIBRARIES}
                          ${Boost_FILESYSTEM_LIBRARY}
                          ${Boost_SERIALIZATION_LIBRARY} # serialization
                          ${OpenCV_LIBRARIES}
                          # ${OpenMVS_LIBRARIES}
                          pcl_common 
                          pcl_io)

中未正确链接pcl library

改为

target_link_libraries(r3live_mapping 
                          ${catkin_LIBRARIES}
                          ${Boost_LIBRARIES}
                          ${Boost_FILESYSTEM_LIBRARY}
                          ${Boost_SERIALIZATION_LIBRARY} # serialization
                          ${OpenCV_LIBRARIES}
                          ${PCL_LIBRARIES}
                          # ${OpenMVS_LIBRARIES}
                          pcl_common 
                          pcl_io)

问题成功解决编译成功