Sophus链接错误

时间：2023-03-09 03:58:52
Sophus链接错误

错误指示如下：

CMakeFiles/run_vo.dir/run_vo.cpp.o: In function `main':

run_vo.cpp:(.text.startup+0x1086): undefined reference to `Sophus::SE3::inverse() const'

run_vo.cpp:(.text.startup+0x10c9): undefined reference to `Sophus::SO3::matrix() const'

run_vo.cpp:(.text.startup+0x10ec): undefined reference to `Sophus::SO3::matrix() const'

run_vo.cpp:(.text.startup+0x110f): undefined reference to `Sophus::SO3::matrix() const'

run_vo.cpp:(.text.startup+0x1132): undefined reference to `Sophus::SO3::matrix() const'

run_vo.cpp:(.text.startup+0x1155): undefined reference to `Sophus::SO3::matrix() const'

CMakeFiles/run_vo.dir/run_vo.cpp.o:run_vo.cpp:(.text.startup+0x1178): more undefined references to `Sophus::SO3::matrix() const' follow

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SO3 const&, Eigen::Matrix<double, , , , , > const&)'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator=(Sophus::SE3 const&)'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3()'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'

../../lib/libmyslam.so: undefined reference to `Sophus::SO3::SO3(double, double, double)'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::log() const'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Sophus::SE3 const&) const'

../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Eigen::Matrix<double, , , , , > const&) const'

collect2: error: ld returned  exit status

test/CMakeFiles/run_vo.dir/build.make:: recipe for target '../bin/run_vo' failed

make[]: *** [../bin/run_vo] Error

CMakeFiles/Makefile2:: recipe for target 'test/CMakeFiles/run_vo.dir/all' failed

make[]: *** [test/CMakeFiles/run_vo.dir/all] Error

Makefile:: recipe for target 'all' failed

make: *** [all] Error

CMakeLists.txt中的Sophus

# Sophus

find_package( Sophus REQUIRED )

include_directories( ${Sophus_INCLUDE_DIRS} )

原因分析：
安装Sophus时，有个lib文件“libSophus.so”会出现在/usr/local/lib/libSophus.so 时，libSophus.so 应该被链接到 Sophus_LIBRARIES， cmake没链接上。

应该更改为

# Sophus

find_package( Sophus REQUIRED )

set(Sophus_LIBRARIES libSophus.so)

include_directories( ${Sophus_INCLUDE_DIRS} )

即显示链接Sophus_LIBRARIES 链接到libSophus.so

# Sophus
find_package( Sophus REQUIRED )
set(Sophus_LIBRARIES libSophus.so)
include_directories( ${Sophus_INCLUDE_DIRS} )

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