ubuntu22.04学习slam十四讲ch9遇到报错解决

问题一：make过程中报错

 error: ‘make_unique’ is not a member of ‘g2o’; did you mean ‘std::make_unique’?
  147 |         g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>()));

解决方法：将bundle_adjustment_g2o.cpp中的147行改为

std::make_unique<BlockSolverType>(std::make_unique<LinearSolverType>()));

问题2：

 解决方法：链接fmt库，在cmakelists中加入

#find_package(fmt REQUIRED)
#target_link_libraries里面加入fmt::fmt

问题3：报错信息

---

undefined reference to g2o::csparse::CSparse::

解决方法：参考文章SLAM学习笔记 | slambook2-CSDN博客替换CMakeList.txt中的所有内容：

cmake_minimum_required(VERSION 2.8)
 
project(bundle_adjustment)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-O3 -std=c++14")
set( CMAKE_CXX_STANDARD 14)
 
if (POLICY CMP0072)
  set(OpenGL_GL_PREFERENCE LEGACY)
endif()

Find_Package(g2o REQUIRED)
Find_Package(Ceres REQUIRED)
Find_Package(Sophus REQUIRED)
Find_Package(fmt REQUIRED)
 
# SET(G2O_LIBS g2o_csparse_extension g2o_stuff g2o_core cxsparse)
SET(G2O_LIBS g2o::g2o_ceres_ad g2o::stuff g2o::opengl_helper g2o::core 
    g2o::g2o_hierarchical_library g2o::g2o_simulator_library   
    g2o::types_slam2d g2o::types_slam2d_addons  
    g2o::solver_pcg g2o::solver_dense g2o::solver_slam2d_linear 
    g2o::solver_structure_only g2o::solver_csparse g2o::csparse_extension g2o::solver_cholmod g2o::solver_eigen 
    # g2o::csparse_extension g2o::stuff g2o::core 
    cxsparse)
 
# Eigen
include_directories("/usr/include/eigen3")
include_directories("/usr/include/suitesparse/")
add_library(bal_common common.cpp)
add_executable(bundle_adjustment_g2o bundle_adjustment_g2o.cpp)
add_executable(bundle_adjustment_ceres bundle_adjustment_ceres.cpp)
target_link_libraries(bundle_adjustment_ceres Ceres::ceres fmt::fmt bal_common)
target_link_libraries(bundle_adjustment_g2o ${G2O_LIBS} fmt::fmt bal_common)
————————————————

问题4：在改完之后make又出现一个错误 

error: ‘std::string_view’ has not been declared

解决方法：error: ‘std::string_view’ has not been declared问题解决-CSDN博客，将cmakelists中的c++14换成17

问题5：将上面都改好后make提示

 找不到 -lCeres::ceres: 没有那个文件或目录
collect2: error: ld returned 1 exit status

解决方法：上面改过的cmakelists文件中倒数第二行Ceres::ceres改为原来的

${CERES_LIBRARIES}

成功运行

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问题6：运行g20代码提示：

./bundle_adjustment_g2o: error while loading shared libraries: libg2o_csparse_extension.so.0.1: cannot open shared object file: No such file or directory

解决方法：在cmakelists中find_package前加入：

list( APPEND CMAKE_MODULE_PATH /home/xqs/3rdparty/g2o/cmake_modules )
set(G2O_ROOT /usr/local/include/g2o)

然后参考https://www.cnblogs.com/dtyy/p/7881368.html，以及[学习笔记-SLAM篇]Ubuntu16.04下配置PL-SLAM（stereo）_mrpt和stvo-pl解压至pl-slam同级文件夹-CSDN博客在终端输入

cd /usr/local/lib
sudo ln -sv libg2o_csparse_extension.so libg2o_ext_csparse.so
sudo ldconfig

解决问题