20.04ubantu 编译lio_sam问题解决

https://blog.csdn.net/Delsonyangx/article/details/128558689

大部分基础问题这篇就能解决．

遇到的编译问题主要有这几个难以解决：
1.opencv与flann冲突

/usr/include/flann/util/serialization.h:56:33:   required from ‘static void flann::serialization::Serializer<T>::save(OutputArchive&, const T&) [with OutputArchive = flann::serialization::SaveArchive; T = flann::LshIndex<flann::L2_Simple<float> >]’
/usr/include/flann/util/serialization.h:316:28:   required from ‘Archive& flann::serialization::OutputArchive<Archive>::operator&(const T&) [with T = flann::LshIndex<flann::L2_Simple<float> >; Archive = flann::serialization::SaveArchive]’
/usr/include/flann/algorithms/lsh_index.h:198:9:   required from ‘void flann::LshIndex<Distance>::saveIndex(FILE*) [with Distance = flann::L2_Simple<float>; FILE = _IO_FILE]’
/usr/include/flann/algorithms/lsh_index.h:195:10:   required from here
/usr/include/flann/util/serialization.h:34:14: error: ‘class std::unordered_map<unsigned int, std::vector<unsigned int> >’ has no member named ‘serialize’
make[2]: *** [LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/build.make:63: LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/src/mapOptmization.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:545: LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j16 -l16" failed

主要问题为编译顺序中的问题调整前面

#include <opencv2/opencv.hpp>
#include <opencv2/imgproc.hpp>

到include末尾就行了．

2.pcl问题

/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x20): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl7PCLBaseINS_9PointXYZIEEE[_ZTVN3pcl7PCLBaseINS_9PointXYZIEEE]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x20): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl6FilterINS_9PointXYZIEEE[_ZTVN3pcl6FilterINS_9PointXYZIEEE]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x20): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setInputCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x28): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x30): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
/usr/bin/ld: CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o:(.data.rel.ro._ZTVN3pcl9VoxelGridINS_9PointXYZIEEE[_ZTVN3pcl9VoxelGridINS_9PointXYZIEEE]+0x38): undefined reference to `pcl::PCLBase<pcl::PointXYZI>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [LIO-SAM-DetailedNote/CMakeFiles/lio_sam_featureExtraction.dir/build.make:396: /home/project/LIO-SAM/devel/lib/lio_sam/lio_sam_featureExtraction] Error 1
make[1]: *** [CMakeFiles/Makefile2:633: LIO-SAM-DetailedNote/CMakeFiles/lio_sam_featureExtraction.dir/all] Error 2

这个就是链接问题，ros环境中有pcl1.10而我安装了pcl1.13，在链接时候出错误

因此我修改了cmake.txt来改变整个问题，但是不推荐这种方法，因为还要去修改msg的头文件问题，比较麻烦．附上修改后

cmake_minimum_required(VERSION 2.8.3)
project(lio_sam)
#设置工程名称
set(APP_NAME lio_sam)

add_compile_options(-std=c++14)
set(CMAKE_BUILD_TYPE Release)

SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")


find_package(OpenMP REQUIRED)
find_package(PCL 1.12 REQUIRED)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)
find_package(Boost REQUIRED COMPONENTS timer)
find_package(roscpp REQUIRED)
find_package(catkin REQUIRED COMPONENTS tf)


#工程头文件PROJECT_SOURCE_DIR工程根目录
include_directories(
    include
    ${PROJECT_SOURCE_DIR}/..
    ${PROJECT_SOURCE_DIR}/include/lio_sam/
    /opt/ros/noetic/include/tf/
    /opt/ros/noetic/include/tf/LinearMath/
    src/include/
)
#第三方库头文件
include_directories(
    ${PCL_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ${GTSAM_INCLUDE_DIR}
    ${roscpp_INCLUDE_DIRS}
    ${roscpp_INCLUDE_DIRS}/tf/
    ${PROJECT_SOURCE_DIR}
    /usr/local/include/
)
#第三方库lib
link_directories(
  include
  ${PCL_LIBRARIES}
  ${OpenCV_LIBRARY_DIRS}
  ${GTSAM_LIBRARY_DIRS}
  ${roscpp_LIBRARIES}
)

# Range Image Projection
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
add_dependencies(${PROJECT_NAME}_imageProjection ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${roscpp_LIBRARIES})

# Feature Association
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
add_dependencies(${PROJECT_NAME}_featureExtraction ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}_featureExtraction ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${roscpp_LIBRARIES})

# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp)
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization Boost::timer ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam ${roscpp_LIBRARIES})

# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration Boost::timer ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam ${roscpp_LIBRARIES})