关于未定义的引用，解决思路

首先，看看cmakelist里面软链接的库地址有没有问题

set( THIRD_PARTY_LIBS
        ${OpenCV_LIBS}
        ${GLOG_LIBRARY}
        ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/thirdparty/g2o/lib/libg2o${CMAKE_SHARED_LIBRARY_SUFFIX}
        ${PROJECT_SOURCE_DIR}/thirdparty/DBoW3/build/src/libDBoW3${CMAKE_SHARED_LIBRARY_SUFFIX}
     
        ${LIBZIP_LIBRARY}
)
///打印
message(STATUS "========"${PROJECT_SOURCE_DIR}/thirdparty/DBoW3/build/src/libDBoW3${CMAKE_SHARED_LIBRARY_SUFFIX})

在终端得到打印的log

-- ========/home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so

ls一下地址，发现没问题

ls -l /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so
lrwxrwxrwx 1 bobo bobo 15 11月  8 00:49 /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so -> libDBoW3.so.0.0
bobo@bobo:~/dso/build$ ls -l /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so.0.0
lrwxrwxrwx 1 bobo bobo 17 11月  8 00:49 /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so.0.0 -> libDBoW3.so.0.0.1
bobo@bobo:~/dso/build$ ls -l /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so.0.0.1
-rwxrwxr-x 1 bobo bobo 231712 11月  8 00:49 /home/bobo/dso/thirdparty/DBoW3/build/src/libDBoW3.so.0.0.1

然后，发现是cmakelist里面THIRD_PARTY_LIBS，没有把它放入 target_link_libraries里面！！！！

set( THIRD_PARTY_LIBS   //这个！的问题！！！
        ${OpenCV_LIBS}
        ${GLOG_LIBRARY}
        ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/thirdparty/g2o/lib/libg2o${CMAKE_SHARED_LIBRARY_SUFFIX}
        ${PROJECT_SOURCE_DIR}/thirdparty/DBoW3/build/src/libDBoW3${CMAKE_SHARED_LIBRARY_SUFFIX}
     
        ${LIBZIP_LIBRARY}
)

    target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${THIRD_PARTY_LIBS})

为什么我会出现这样的问题呢，因为我是复制的LDSO中的set( THIRD_PARTY_LIBS…）他的THIRD_PARTY_LIBS没有写在同一个文件里
他的cmakelist文件底端还有这两句话！

add_subdirectory(src)
add_subdirectory(examples)

使用命令行也可以找到THIRD_PARTY_LIBS都在哪里出现过 grep -rl “THIRD_PARTY_LIBS” ./|grep CMakeLists.txt

bobo@bobo:~/LDSO$ grep -rl "THIRD_PARTY_LIBS" ./|grep CMakeLists.txt
./CMakeLists.txt
./examples/CMakeLists.txt
./src/CMakeLists.txt