问题描述
我正在尝试在 C++ 项目中使用 g2o 库.我在两个系统中安装了库
I'm trying to use the g2o library in a c++ project. I installed the library in two systems
- OpenSuse - 通过 zypper install 依赖，g2o 根据指示编译
- Ubuntu - 通过 apt-get、g2o 根据指示编译所有依赖项
我的 .pro 文件包含这些，以便链接到 .so 库:
My .pro file includes these, in order to link to the .so libaries:
INCLUDEPATH += /home/rhun/data/Coding/g2o/trunk/lib/
LIBS += -L/home/rhun/data/Coding/g2o/trunk/lib/
LIBS += -lg2o_calibration_odom_laser
LIBS += -lg2o_cli
LIBS += -lg2o_core
LIBS += -lg2o_csparse_extension
LIBS += -lg2o_ext_freeglut_minimal
LIBS += -lg2o_interface
LIBS += -lg2o_parser
LIBS += -lg2o_simulator
LIBS += -lg2o_solver_csparse
LIBS += -lg2o_solver_dense
LIBS += -lg2o_solver_eigen
LIBS += -lg2o_solver_pcg
LIBS += -lg2o_solver_slam2d_linear
LIBS += -lg2o_solver_structure_only
LIBS += -lg2o_stuff
LIBS += -lg2o_tutorial_slam2d
LIBS += -lg2o_types_data
LIBS += -lg2o_types_icp
LIBS += -lg2o_types_sba
LIBS += -lg2o_types_sclam2d
LIBS += -lg2o_types_sim3
LIBS += -lg2o_types_slam2d
LIBS += -lg2o_types_slam3d
INCLUDEPATH += /usr/include/suitesparse/
INCLUDEPATH += /home/rhun/data/Coding/g2o/tags/before-github-sync/
INCLUDEPATH += /home/rhun/data/Coding/g2o/tags/before-github-sync/EXTERNAL/eigen3/
INCLUDEPATH += /home/rhun/data/Coding/g2o/trunk/build/
当我尝试#include 时，我可以在下拉菜单中看到所有内容.
When I try to #include things, I can see everything in the drop down menu.
但是，我不断收到这条消息:
However, I keep getting this message:
error: undefined reference to 'g2o::SparseOptimizer::setMethod(g2o::SparseOptimizer::Method)'
我被困在这里好几个小时了.你能解释一下吗?谢谢！:)
I'm stuck for hours here. Could you please shed some light? Thank you! :)
推荐答案
好的，我下载了发布的 g2o 版本 在这里(http://openslam.org/g2o.html)，但它对我不起作用.一旦我下载了通过github发布的版本，问题就消失了.github 版本是最新版本，而且只要创建者需要，就会应用补丁，这意味着在安装过程中也不需要调整 makefile.
OK, I downloaded the version of g2o that ships here (http://openslam.org/g2o.html), but it didn't work for me. Once I downloaded the version that ships through github, problems were gone. The github version is the most up-to-date version, and also patches are applied whenever needed by the creators, and that means that also during installation no tweaking of makefiles was needed.
唯一的问题"是，这个新版本引入了一些变化，这使得网上找到的一些例子有点过时，但没什么可怕的;)(通过查看旧教程、新示例、文档和源代码，启动和运行并不难)
The only "problem" is that, this new version introduced some changes, which makes some examples found online a bit outdated, but nothing scary ;)(it was not difficult to get up and running, by looking and old tutorials, new samples, documentation and source code)
我将在此处复制 Rainer Kuemmerle(g2o 的作者)的答案，发现 这里
I will copy here the answer of Rainer Kuemmerle (author of g2o), found here
确实 API 发生了很大变化，这导致 OpenSLAM 的代码案例与 github 上托管的当前代码不兼容.我们对此无能为力，添加新功能需要我们打破旧 API.最好的办法是调整使用 g2o 的代码.例如，setMethod 必须通过设置相应的 OptimizationAlgorithm 来替换.
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