2021-03-13

VSLAM中用G2O解BA，出现如下问题

 

[ 50%] Linking CXX executable PA7_Q2
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::init()’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:109：对‘cholmod_free_factor’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::~LinearSolverCholmod()’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:100：对‘cholmod_free_factor’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:103：对‘cholmod_finish’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::~LinearSolverCholmod()’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:100：对‘cholmod_free_factor’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:103：对‘cholmod_finish’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::init(g2o::SparseOptimizer*, bool)’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:109：对‘cholmod_free_factor’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::~BlockSolver()’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:100：对‘cholmod_free_factor’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:103：对‘cholmod_finish’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::computeSymbolicDecomposition(g2o::SparseBlockMatrix<Eigen::Matrix<double, 3, 3, 0, 3, 3> > const&)’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:278：对‘cholmod_analyze’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:304：对‘cholmod_amd’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:327：对‘cholmod_analyze_p’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 3, 3, 0, 3, 3> > const&)’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:217：对‘cholmod_factorize’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:222：对‘cholmod_change_factor’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 3, 3, 0, 3, 3> > const&)’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:176：对‘cholmod_factorize’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:181：对‘cholmod_change_factor’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘g2o::LinearSolverCholmod<Eigen::Matrix<double, 3, 3, 0, 3, 3> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 3, 3, 0, 3, 3> > const&, double*, double*)’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:134：对‘cholmod_factorize’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:143：对‘cholmod_solve’未定义的引用
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:145：对‘cholmod_free_dense’未定义的引用
CMakeFiles/PA7_Q2.dir/src/my_G2o_BA_BAL.cpp.o：在函数‘main’中：
/usr/local/include/g2o/solvers/cholmod/linear_solver_cholmod.h:86：对‘cholmod_start’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/PA7_Q2.dir/build.make:120: recipe for target 'PA7_Q2' failed
make[3]: *** [PA7_Q2] Error 1
CMakeFiles/Makefile2:75: recipe for target 'CMakeFiles/PA7_Q2.dir/all' failed
make[2]: *** [CMakeFiles/PA7_Q2.dir/all] Error 2
CMakeFiles/Makefile2:82: recipe for target 'CMakeFiles/PA7_Q2.dir/rule' failed
make[1]: *** [CMakeFiles/PA7_Q2.dir/rule] Error 2
Makefile:118: recipe for target 'PA7_Q2' failedmake: *** [PA7_Q2] Error 2

问题分析：

明显是没有添加库，根本是Cholmod库没有添加到工程中，百度半天没解决，看了一下G2O的readme，有了思路，搜索cholmod.so,理应在/usr/lib/目录下吧，发现居然是在/usr/lib/x86_64-linux-gnu下，那就试一下，把这个路径添加到工程中

解决方法：

CMakelists.txt中，给工程添加这个路径："/usr/lib/x86_64-linux-gnu/libcholmod.so"

TARGET_LINK_LIBRARIES( PA7_Q2
${OpenCV_LIBS}
${PCL_LIBRARIES}
${G2O_LIBS}
${G2O_ROOT}
"/usr/lib/x86_64-linux-gnu/libcholmod.so"
${CSPARSE_LIBRARY}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${Sophus_LIBRARIES})

居然就可以了，应该Find一下cholmod之后添加进来也可以，谁有时间可以试一下哈