【错误解决】【SLAM14的cap5】【PCL库的pcl/visualization/pcl_visualizer.h的使用】【对‘pcl::visualizatio...’未定义的引用】

0 前言

1 报错提示

====================[ 构建 | joinMap | Debug ]====================================
/home/bupo/CLion-2022.1.2/clion-2022.1.2/bin/cmake/linux/bin/cmake --build /home/bupo/my_study/slam14/slam14_my/cap5/jointMap/cmake-build-debug --target joinMap -j 6
[1/1] Linking CXX executable joinMap
FAILED: joinMap 
: && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/joinMap.dir/src/joinMap.cpp.o -o joinMap  -Wl,-rpath,/usr/local/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu/hdf5/openmpi:/usr/lib/x86_64-linux-gnu/openmpi/lib  /usr/local/lib/x86_64-linux-gnu/libopencv_dnn.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_ml.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_objdetect.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_shape.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_stitching.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_superres.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_videostab.so.3.4.1  /usr/local/lib/x86_64-linux-gnu/libopencv_viz.so.3.4.1  -lboost_system  -lboost_filesystem  -lboost_thread  -lpthread  -lboost_date_time  -lboost_iostreams  -lboost_serialization  -lboost_chrono  -lboost_atomic  -lboost_regex  -lpcl_common  -lpcl_octree  -lOpenNI  -lOpenNI2  -lfreetype  -lz  -lexpat  -lpython2.7  /usr/lib/libvtkWrappingTools-6.3.a  -ljpeg  -lpng  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/usr/lib/x86_64-linux-gnu/libvtkFiltersProgrammable-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersPython-6.3.so.6.3.0  -lpython2.7  /usr/lib/libvtkWrappingTools-6.3.a  /usr/lib/x86_64-linux-gnu/libvtkFiltersReebGraph-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersSMP-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersSelection-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersVerdict-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkverdict-6.3.so.6.3.0  -ljpeg  -lpng  -ltiff  /usr/lib/x86_64-linux-gnu/libvtkGUISupportQtOpenGL-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkGUISupportQtSQL-6.3.so.6.3.0  -lsqlite3  /usr/lib/x86_64-linux-gnu/libvtkGUISupportQtWebkit-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkViewsQt-6.3.so.6.3.0  -lproj  /usr/lib/x86_64-linux-gnu/libvtkIOAMR-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so  -lsz  -ldl  -lm  /usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so  /usr/lib/x86_64-linux-gnu/libvtkIOEnSight-6.3.so.6.3.0  -lnetcdf_c++  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/usr/lib/x86_64-linux-gnu/libvtkIOLSDyna-6.3.so.6.3.0  -lxml2  /usr/lib/x86_64-linux-gnu/hdf5/openmpi/libhdf5.so  -lsz  -ldl  -lm  /usr/lib/x86_64-linux-gnu/openmpi/lib/libmpi.so  /usr/lib/x86_64-linux-gnu/libvtkWrappingPython27Core-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkPythonInterpreter-6.3.so.6.3.0  -lpython2.7  /usr/lib/x86_64-linux-gnu/libvtkFiltersParallel-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkParallelMPI-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkRenderingLIC-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersTexture-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkGUISupportQt-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.9.5  /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.9.5  /usr/lib/x86_64-linux-gnu/libQt5Core.so.5.9.5  /usr/lib/x86_64-linux-gnu/libvtkFiltersAMR-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkParallelCore-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.3.so.6.3.0  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/usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkImagingFourier-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkalglib-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersSources-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkFiltersCore-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonMisc-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtkCommonSystem-6.3.so.6.3.0  /usr/lib/x86_64-linux-gnu/libvtksys-6.3.so.6.3.0  -ldl  -lproj  /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.3.so.6.3.0 && :
CMakeFiles/joinMap.dir/src/joinMap.cpp.o：在函数‘void pcl::visualization::PCLVisualizer::convertPointCloudToVTKPolyData<pcl::PointXYZRGB>(pcl::visualization::PointCloudGeometryHandler<pcl::PointXYZRGB> const&, vtkSmartPointer<vtkPolyData>&, vtkSmartPointer<vtkIdTypeArray>&)’中：
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer30convertPointCloudToVTKPolyDataINS_11PointXYZRGBEEEvRKNS0_25PointCloudGeometryHandlerIT_EER15vtkSmartPointerI11vtkPolyDataERS9_I14vtkIdTypeArrayE[_ZN3pcl13visualization13PCLVisualizer30convertPointCloudToVTKPolyDataINS_11PointXYZRGBEEEvRKNS0_25PointCloudGeometryHandlerIT_EER15vtkSmartPointerI11vtkPolyDataERS9_I14vtkIdTypeArrayE]+0xce)：对‘pcl::visualization::PCLVisualizer::updateCells(vtkSmartPointer<vtkIdTypeArray>&, vtkSmartPointer<vtkIdTypeArray>&, long long)’未定义的引用
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer30convertPointCloudToVTKPolyDataINS_11PointXYZRGBEEEvRKNS0_25PointCloudGeometryHandlerIT_EER15vtkSmartPointerI11vtkPolyDataERS9_I14vtkIdTypeArrayE[_ZN3pcl13visualization13PCLVisualizer30convertPointCloudToVTKPolyDataINS_11PointXYZRGBEEEvRKNS0_25PointCloudGeometryHandlerIT_EER15vtkSmartPointerI11vtkPolyDataERS9_I14vtkIdTypeArrayE]+0x127)：对‘pcl::visualization::PCLVisualizer::allocVtkPolyData(vtkSmartPointer<vtkPolyData>&)’未定义的引用
CMakeFiles/joinMap.dir/src/joinMap.cpp.o：在函数‘bool pcl::visualization::PCLVisualizer::fromHandlersToScreen<pcl::PointXYZRGB>(pcl::visualization::PointCloudGeometryHandler<pcl::PointXYZRGB> const&, pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)’中：
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE[_ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE]+0x181)：对‘pcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer<vtkDataSet> const&, vtkSmartPointer<vtkLODActor>&, bool)’未定义的引用
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE[_ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE]+0x21d)：对‘pcl::visualization::PCLVisualizer::addActorToRenderer(vtkSmartPointer<vtkProp> const&, int)’未定义的引用
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE[_ZN3pcl13visualization13PCLVisualizer20fromHandlersToScreenINS_11PointXYZRGBEEEbRKNS0_25PointCloudGeometryHandlerIT_EERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiRKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSL_10QuaternionIfLi0EEE]+0x630)：对‘pcl::visualization::PCLVisualizer::convertToVtkMatrix(Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, vtkSmartPointer<vtkMatrix4x4>&)’未定义的引用
CMakeFiles/joinMap.dir/src/joinMap.cpp.o：在函数‘bool pcl::visualization::PCLVisualizer::addPointCloud<pcl::PointXYZRGB>(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr const&, pcl::visualization::PointCloudColorHandler<pcl::PointXYZRGB> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’中：
joinMap.cpp:(.text._ZN3pcl13visualization13PCLVisualizer13addPointCloudINS_11PointXYZRGBEEEbRKNS_10PointCloudIT_E8ConstPtrERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi[_ZN3pcl13visualization13PCLVisualizer13addPointCloudINS_11PointXYZRGBEEEbRKNS_10PointCloudIT_E8ConstPtrERKNS0_22PointCloudColorHandlerIS5_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEi]+0x1c1)：对‘pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PointXYZRGB>::PointCloudGeometryHandlerXYZ(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> const> const&)’未定义的引用
CMakeFiles/joinMap.dir/src/joinMap.cpp.o：在函数‘main’中：
joinMap.cpp:(.text.startup+0xf3e)：对‘pcl::visualization::PCLVisualizer::PCLVisualizer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)’未定义的引用
joinMap.cpp:(.text.startup+0xfab)：对‘pcl::visualization::PCLVisualizer::setBackgroundColor(double const&, double const&, double const&, int)’未定义的引用
joinMap.cpp:(.text.startup+0x1122)：对‘pcl::visualization::PCLVisualizer::setPointCloudRenderingProperties(int, double, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
joinMap.cpp:(.text.startup+0x1145)：对‘pcl::visualization::PCLVisualizer::initCameraParameters()’未定义的引用
joinMap.cpp:(.text.startup+0x130f)：对‘pcl::visualization::PCLVisualizer::wasStopped() const’未定义的引用
joinMap.cpp:(.text.startup+0x132b)：对‘pcl::visualization::PCLVisualizer::spinOnce(int, bool)’未定义的引用
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.

2 解决方法

• 好久就找到一个解决方法，还不完全消除错误，但是可以生成可执行文件，且正常运行，故作此记录
• 未修改的的CMakeLists.txt文件为：

cmake_minimum_required( VERSION 2.8 )
project( joinMap )

set( CMAKE_BUILD_TYPE Release )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

# opencv 
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

# eigen 
include_directories("/usr/include/eigen3")

# pcl 
find_package( PCL REQUIRED COMPONENT common io )
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )

add_executable( joinMap joinMap.cpp )
target_link_libraries( joinMap ${OpenCV_LIBS} ${PCL_LIBRARIES} )

• 修改过的CMakeLists.txt文件可以使用的：

cmake_minimum_required( VERSION 2.8 )
project( joinMap )

set( CMAKE_BUILD_TYPE Release )
set( CMAKE_CXX_STANDARD 14 )#or 4

# opencv
find_package( OpenCV 3 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

# eigen
include_directories("/usr/include/eigen3")

# pcl
#find_package( PCL REQUIRED COMPONENT common io)
find_package( PCL 1.8 REQUIRED)
set(PCL_INCLUDE_DIRS /usr/include/pcl-1.8)  #指定pcl1.8路径
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )

add_executable( joinMap src/joinMap.cpp )
target_link_libraries( joinMap ${OpenCV_LIBS} ${PCL_LIBRARIES} )

1. 注意首先是第一开始使用的find_package( PCL REQUIRED COMPONENT common io)，会报这个错误提示，将其改成
   find_package( PCL 1.8 REQUIRED)
set(PCL_INCLUDE_DIRS /usr/include/pcl-1.8) #指定pcl1.8路径
   这两句，尝试编译
2. 如果未成功，将将C++改成14，即添加set( CMAKE_CXX_STANDARD 14 )#or 4，后面我确实11和14都可以，但是先改成14，之后可以尝试11
3. 如果还未成功，如果有set( CMAKE_BUILD_TYPE Release )，删去

• 虽然但是编译的时候仍然会有报警告，但不影响可执行文件的生成使用，类似于

CMake Warning (dev) at /home/bupo/CLion-2022.1.2/clion-2022.1.2/bin/cmake/linux/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
  The package name passed to `find_package_handle_standard_args` (eigen) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.

3 参考文献

• 无法链接PCL库undefined reference to `pcl::PCLBase****