调用g2o库报错“/usr/bin/ld: 找不到 -lg2o_core”的解决方法

视觉SLAM十四讲（第6讲及以后）中调用g2o库，编译时出现找不到g2o相关模块和函数的错误

undefined reference to g2o XXX

使用网上找到的方法g2o库出现undefined reference to错误，编译仍报错

/usr/bin/ld: 找不到 -lg2o_core
/usr/bin/ld: 找不到 -lg2o_stuff

后来查找到了库文件的存放位置，发现最新的g2o库名字有所变化，新库名多了一个后缀“_d”，完整名称为：libg2o_core_d.so， libg2o_stuff_d.so

因此只需将CMakeLists里链接库的名称修改一下

target_link_libraries(g2oCurveFitting g2o_core_d g2o_stuff_d)

编译成功
第六讲的完整CMakeLists代码如下，供参考

cmake_minimum_required(VERSION 2.8)
project(ch6)

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++14 -O3")

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# Ceres
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})

# g2o
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})

# Eigen
include_directories("/usr/include/eigen3")

add_executable(gaussNewton gaussNewton.cpp)
target_link_libraries(gaussNewton ${OpenCV_LIBS})

add_executable(ceresCurveFitting ceresCurveFitting.cpp)
target_link_libraries(ceresCurveFitting ${OpenCV_LIBS} ${CERES_LIBRARIES})

add_executable(g2oCurveFitting g2oCurveFitting.cpp)
target_link_libraries(g2oCurveFitting ${OpenCV_LIBS} )#${G2O_CORE_LIBRARY} ${G2O_STUFF_LIBRARY}
target_link_libraries(g2oCurveFitting g2o_core_d g2o_stuff_d)	#修改了g2o库名