对‘g2o::VertexSE3::VertexSE3()’未定义的引用

对‘g2o::VertexSE3::VertexSE3()’未定义的引用

参考链接：link

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
)

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
)