slam14讲-ch6-使用 g2o 拟合曲线编译问题记录

最新推荐文章于 2022-09-13 10:26:56 发布

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最新推荐文章于 2022-09-13 10:26:56 发布

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分类专栏： slam14讲学习笔记文章标签： c++ 开发语言后端

本文链接：https://blog.csdn.net/cmdxly/article/details/122934459

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slam14讲-ch6-使用 g2o 拟合曲线编译问题记录

g2o版本

g2o-20201223_git

问题1

书中代码-适用于原版

    // 线性方程求解器:稠密的增量方程
   Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>();
Block* solver_ptr = new Block(linearSolver);//矩阵块求解器
//梯度下降方法
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );

新版

    unique_ptr<Block::LinearSolverType> linearSolver(new g2o::LinearSolverDense<Block::PoseMatrixType>());
    unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));
    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(solver_ptr));

问题2

#cmakelists
# 寻找 G2O 库
find_package(G2O REQUIRED)
# 添加头文件
include_directories( ${G2O_INCLUDE_DIRS})
target_link_libraries(g2o_curve_fitting ${G2O_CORE_LIBRARY})

编译问题

/usr/bin/ld: CMakeFiles/g2o_curve_fitting.dir/main.cpp.o: undefined reference to symbol '_ZN3g2o18get_monotonic_timeEv'
/usr/bin/ld: /usr/local/lib/libg2o_stuff.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

修改CMakeLists

#cmakelists
# 寻找 G2O 库
find_package(G2O REQUIRED)
# 添加头文件
include_directories( ${G2O_INCLUDE_DIRS})
SET(G2O_LIBS g2o_cli g2o_ext_freeglut_minimal g2o_simulator g2o_solver_slam2d_linear g2o_types_icp g2o_types_slam2d g2o_core g2o_interface g2o_solver_csparse g2o_solver_structure_only g2o_types_sba g2o_types_slam3d g2o_csparse_extension g2o_opengl_helper g2o_solver_dense g2o_stuff g2o_types_sclam2d g2o_parser g2o_solver_pcg g2o_types_data g2o_types_sim3 cxsparse )

target_link_libraries(g2o_curve_fitting ${G2O_LIBS})