解决编译安装 GCNv2_SLAM 过程中 Target links to target “Eigen3::Eigen“ but the target was not found 的问题

1、问题

编译安装 GCNv2_SLAM 过程中，在运行项目下 build.sh 文件中 cmake .. -DCMAKE_BUILD_TYPE=Release -DTORCH_PATH=xxx 这一步时，发生如下报错：

CMake Error at CMakeLists.txt:101 (add_executable):
  Target "rgbd_gcn" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:101 (add_executable):
  Target "rgbd_gcn" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:67 (add_library):
  Target "ORB_SLAM2" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at CMakeLists.txt:67 (add_library):
  Target "ORB_SLAM2" links to target "Eigen3::Eigen" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?

2、排查

1. 根据以上报错提示判断，应该是 cmake 编译时没找到 eigen 库。
2. 但是其他项目编译时可以正常使用 eigen 库，所以不是库没装的问题。
3. 看到项目目录下有 cmake_modules/FindEigen3.cmake 这一文件，参考了别人的博客，这一文件是给 cmake 在 find_package(Eigen3 ...) 时提供额外帮助的。
   • ubunutu eigen3包的查找： https://www.cnblogs.com/flyinggod/p/12469713.html
4. 所以其他项目不使用 FindEigen3.cmake 可以正常找到 eigen 库， GCNv2_SLAM 用了反而没办法找到 eigen 库。

3、解决

• 在 CMakeLists.txt 文件中注释对 FindEigen3.cmake 的使用，即注释这一行：

# LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

• 然后重新编译（记得先删除旧的 build 文件夹），就可以编译成功了。