Sophus libSophus.so

在编译包含Sophus的源文件的时候,出现如下错误

../lib/libmyslam.so: undefined reference to `Sophus::SO3::SO3(double, double, double)'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SO3 const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Sophus::SE3 const&) const'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::log() const'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator=(Sophus::SE3 const&)'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::inverse() const'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3()'
../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
collect2: error: ld returned 1 exit status
View Code

原因分析:
安装Sophus时,有个lib文件“libSophus.so”会出现在/usr/local/lib/libSophus.so (本人编译时最后执行了 sudo make install, 因此在系统文件夹里面有该lib文件)。 当执行FIND_PACKAGE(sophus REQUIRED)时,libSophus.so 应该被链接到 Sophus_LIBRARIES, 但cmake却没链接上。

决办法:
显式将Sophus_LIBRARIES 链接到libSophus.so,CMakeLists.txt的代码如下:

cmake_minimum_required( VERSION 2.8 )
project( useSophus )

# 为使用 sophus,您需要使用find_package命令找到它
find_package( sophus REQUIRED )
set(Sophus_LIBRARIES "/home/guorun/vision_slam/slambook/3rdparty/Sophus/libSophus.so")
include_directories("/usr/include/eigen3")
include_directories( ${Sophus_INCLUDE_DIRS} )

add_executable( useSophus useSophus.cpp )
target_link_libraries( useSophus ${Sophus_LIBRARIES} )

即可成功。

以上使用的是老版本的Sophus,新版本的还未测试!!!

转载于:https://www.cnblogs.com/gary-guo/p/9280715.html

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