KunruiHuang
commented
1 year ago 看上去应该是OpenCV的链接出现问题，您可以打印在CMake中打印一些调试信息，以确认你的OpenCV库是否被正确链接
Open GitZhaoo opened 1 year ago
KunruiHuang
commented
1 year ago 看上去应该是OpenCV的链接出现问题，您可以打印在CMake中打印一些调试信息，以确认你的OpenCV库是否被正确链接
我在编译代码的时候遇到了如下问题，出现非常多的非常多的未定义引用，配置环境同作者（除了Opencv使用4.4，尝试4.5也是一样的问题），可以帮忙看下吗？谢谢！ [ 3%] Built target benchmark_publisher [ 4%] Linking CXX executable /home/yzl/My_Research/vins-mono-imu_ws/devel/lib/vins_estimator/vins_estimator [ 24%] Built target camera_model [ 26%] Linking CXX executable /home/yzl/My_Research/vins-mono-imu_ws/devel/lib/camera_model/Calibration [ 29%] Built target ar_demo_node [ 30%] Linking CXX executable /home/yzl/My_Research/vins-mono-imu_ws/devel/lib/feature_tracker/feature_tracker [ 52%] Built target pose_graph CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o：在函数‘main.cold’中： intrinsic_calib.cc:(.text.unlikely+0x94)：对‘cv::String::deallocate()’未定义的引用 intrinsic_calib.cc:(.text.unlikely+0x175)：对‘cv::String::deallocate()’未定义的引用 intrinsic_calib.cc:(.text.unlikely+0x192)：对‘cv::String::deallocate()’未定义的引用 intrinsic_calib.cc:(.text.unlikely+0x1bb)：对‘cv::String::deallocate()’未定义的引用 intrinsic_calib.cc:(.text.unlikely+0x20f)：对‘cv::String::deallocate()’未定义的引用 CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o:intrinsic_calib.cc:(.text.unlikely+0x262): 跟着更多未定义的参考到 cv::String::deallocate() CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o：在函数‘cv::String::String(char const)’中： intrinsic_calib.cc:(.text._ZN2cv6StringC2EPKc[_ZN2cv6StringC5EPKc]+0x31)：对‘cv::String::allocate(unsigned long)’未定义的引用 CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o：在函数‘main’中： intrinsic_calib.cc:(.text.startup+0x1335)：对‘cv::imread(cv::String const&, int)’未定义的引用 intrinsic_calib.cc:(.text.startup+0x133d)：对‘cv::String::deallocate()’未定义的引用 intrinsic_calib.cc:(.text.startup+0x1469)：对‘cv::imread(cv::String const&, int)’未定义的引用 intrinsic_calib.cc:(.text.startup+0x1e61)：对‘cv::putText(cv::InputOutputArray const&, cv::String const&, cv::Point, int, double, cv::Scalar_, int, int, bool)’未定义的引用
intrinsic_calib.cc:(.text.startup+0x1e6b)：对‘cv::String::deallocate()’未定义的引用
intrinsic_calib.cc:(.text.startup+0x1ece)：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.o：在函数‘camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr, std::allocator<boost::shared_ptr > >&, cv::Mat&, int, int, bool)’中：
Chessboard.cc:(.text+0x4b30)：对‘cv::findContours(cv::_InputOutputArray const&, cv::_OutputArray const&, cv::OutputArray const&, int, int, cv::Point)’未定义的引用
CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.o：在函数‘camodocal::Chessboard::checkChessboard(cv::Mat const&, cv::Size_) const’中：
Chessboard.cc:(.text+0x5c9d)：对‘cv::findContours(cv::_InputOutputArray const&, cv::_OutputArray const&, cv::OutputArray const&, int, int, cv::Point)’未定义的引用
Chessboard.cc:(.text+0x5dbc)：对‘cv::findContours(cv::_InputOutputArray const&, cv::_OutputArray const&, cv::OutputArray const&, int, int, cv::Point)’未定义的引用
CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o：在函数‘camodocal::CameraCalibration::drawResults(std::vector<cv::Mat, std::allocator >&) const’中：
CameraCalibration.cc:(.text+0x1851)：对‘cv::putText(cv::InputOutputArray const&, cv::String const&, cv::Point, int, double, cv::Scalar_, int, int, bool)’未定义的引用
CameraCalibration.cc:(.text+0x185b)：对‘cv::String::deallocate()’未定义的引用
CameraCalibration.cc:(.text+0x1b9c)：对‘cv::String::allocate(unsigned long)’未定义的引用
CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o：在函数‘camodocal::CameraCalibration::drawResults(std::vector<cv::Mat, std::allocator >&) const [clone .cold]’中：
CameraCalibration.cc:(.text.unlikely+0x181)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/cameramodels/Camera.cc.o：在函数‘camodocal::Camera::reprojectionError(std::vector<std::vector<cv::Point3, std::allocator<cv::Point3 > >, std::allocator<std::vector<cv::Point3 , std::allocator<cv::Point3 > > > > const&, std::vector<std::vector<cv::Point , std::allocator<cv::Point > >, std::allocator<std::vector<cv::Point , std::allocator<cv::Point_ > > > > const&, std::vector<cv::Mat, std::allocator > const&, std::vector<cv::Mat, std::allocator > const&, cv::_OutputArray const&) const’中：
Camera.cc:(.text+0x18be)：对‘cv::_OutputArray::create(int, int, int, int, bool, int) const’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/CameraFactory.cc.o：在函数‘camodocal::CameraFactory::generateCameraFromYamlFile(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
CameraFactory.cc:(.text+0xbd4)：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用
CameraFactory.cc:(.text+0xbdc)：对‘cv::String::deallocate()’未定义的引用
CameraFactory.cc:(.text+0xbe4)：对‘cv::String::deallocate()’未定义的引用
CameraFactory.cc:(.text+0xc42)：对‘cv::String::allocate(unsigned long)’未定义的引用
CameraFactory.cc:(.text+0xcd9)：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用
CameraFactory.cc:(.text+0xdde)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/CameraFactory.cc.o：在函数‘camodocal::CameraFactory::generateCameraFromYamlFile(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) [clone .cold]’中：
CameraFactory.cc:(.text.unlikely+0x3f5)：对‘cv::String::deallocate()’未定义的引用
CameraFactory.cc:(.text.unlikely+0x3fd)：对‘cv::String::deallocate()’未定义的引用
CameraFactory.cc:(.text.unlikely+0x40d)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/PinholeCamera.cc.o：在函数‘camodocal::PinholeCamera::Parameters::readFromYamlFile(std:: cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
PinholeCamera.cc:(.text+0x5463)：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用
PinholeCamera.cc:(.text+0x546b)：对‘cv::String::deallocate()’未定义的引用
PinholeCamera.cc:(.text+0x654a)：对‘cv::String::allocate(unsigned long)’未定义的引用
PinholeCamera.cc:(.text+0x6573)：对‘cv::String::allocate(unsigned long)’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/PinholeCamera.cc.o：在函数‘camodocal::PinholeCamera::Parameters::readFromYamlFile(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) [clone .cold]’中：
PinholeCamera.cc:(.text.unlikely+0x2d1)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text+0x727c)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text+0x74b4)：对‘cv::error(int, cv::String const&, char const , char const, int)’未定义的引用
CataCamera.cc:(.text+0x74bc)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text+0x74d3)：对‘cv::String::allocate(unsigned long)’未定义的引用
CataCamera.cc:(.text+0x74fa)：对‘cv::String::allocate(unsigned long)’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/CataCamera.cc.o：在函数‘camodocal::CataCamera::Parameters::readFromYamlFile(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&) [clone .cold]’中：
CataCamera.cc:(.text.unlikely+0x335)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text.unlikely+0x364)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text.unlikely+0x36c)：对‘cv::String::deallocate()’未定义的引用
CataCamera.cc:(.text.unlikely+0x37f)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/CataCamera.cc.o：在函数‘camodocal::CataCamera::Parameters::writeToYamlFile(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&) const [clone .cold]’中：
CataCamera.cc:(.text.unlikely+0x38a)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/CataCamera.cc.o:CataCamera.cc:(.text.unlikely+0x392): 跟着更多未定义的参考到 cv::String::deallocate()
CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o：在函数‘camodocal::EquidistantCamera::Parameters::readFromYamlFile(std:: cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
EquidistantCamera.cc:(.text+0xb483)：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用
EquidistantCamera.cc:(.text+0xb48b)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xb493)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xb559)：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用
EquidistantCamera.cc:(.text+0xb67b)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xb6e4)：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用
EquidistantCamera.cc:(.text+0xb7ea)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xb9ca)：对‘cv::String::allocate(unsigned long)’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o：在函数‘camodocal::EquidistantCamera::Parameters::writeToYamlFile(std:: cxx11::basic_string<char, std::char_traits, std::allocator > const&) const’中：
EquidistantCamera.cc:(.text+0xbcfd)：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用
EquidistantCamera.cc:(.text+0xbd05)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xc059)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
EquidistantCamera.cc:(.text+0xc07e)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
EquidistantCamera.cc:(.text+0xc089)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xc0b3)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
EquidistantCamera.cc:(.text+0xc29c)：对‘cv::error(int, cv::String const&, char const , char const, int)’未定义的引用
EquidistantCamera.cc:(.text+0xc2a4)：对‘cv::String::deallocate()’未定义的引用
EquidistantCamera.cc:(.text+0xc2dc)：对‘cv::error(int, cv::String const&, char const, char const, int)’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o：在函数‘camodocal::EquidistantCamera::Parameters::writeToYamlFile(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&) const [clone .cold]’中：
EquidistantCamera.cc:(.text.unlikely+0x6a0)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/EquidistantCamera.cc.o:EquidistantCamera.cc:(.text.unlikely+0x6b8): 跟着更多未定义的参考到 cv::String::deallocate()
CMakeFiles/Calibration.dir/src/camera_models/ScaramuzzaCamera.cc.o：在函数‘camodocal::OCAMCamera::Parameters::readFromYamlFile(std:: cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
ScaramuzzaCamera.cc:(.text+0x938f)：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0x9397)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0x939f)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0x946f)：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0x9589)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0x96c2)：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0x97c8)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0x9a01)：对‘cv::FileNode::operator[](cv::String const&) const’未定义的引用
ScaramuzzaCamera.cc:(.text+0x9a33)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0x9c5a)：对‘cv::FileNode::operator[](cv::String const&) const’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa5ab)：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa5cf)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa5da)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa605)：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa629)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa631)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xa64b)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xaacc)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xaad7)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xab06)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xab78)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xab80)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xab9a)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xaba2)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xabbc)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xabc7)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xabe1)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xabec)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xac1e)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xac43)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xac4e)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xac80)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xaca5)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xacb0)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xace2)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xad07)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xad12)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xad44)：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xad69)：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb2bc)：对‘cv::error(int, cv::String const&, char const , char const, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb2c4)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb2fc)：对‘cv::error(int, cv::String const&, char const, char const, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb304)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb33c)：对‘cv::error(int, cv::String const&, char const, char const, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb344)：对‘cv::String::deallocate()’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb37c)：对‘cv::error(int, cv::String const&, char const, char const*, int)’未定义的引用
ScaramuzzaCamera.cc:(.text+0xb384)：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/Calibration.dir/src/camera_models/ScaramuzzaCamera.cc.o:ScaramuzzaCamera.cc:(.text.unlikely+0x84f): 跟着更多未定义的参考到 cv::String::deallocate()
collect2: error: ld returned 1 exit status
Vins-with-IMU-NN/camera_model/CMakeFiles/Calibration.dir/build.make:336: recipe for target '/home/yzl/My_Research/vins-mono-imu_ws/devel/lib/camera_model/Calibration' failed
make[2]: [/home/yzl/My_Research/vins-mono-imu_ws/devel/lib/camera_model/Calibration] Error 1
CMakeFiles/Makefile2:2014: recipe for target 'Vins-with-IMU-NN/camera_model/CMakeFiles/Calibration.dir/all' failed
make[1]: [Vins-with-IMU-NN/camera_model/CMakeFiles/Calibration.dir/all] Error 2
make[1]: 正在等待未完成的任务....
/usr/bin/ld: warning: libopencv_imgproc.so.4.4, needed by /home/yzl/My_Research/vins-mono-imu_ws/devel/lib/libcamera_model.so, may conflict with libopencv_imgproc.so.3.2
/usr/bin/ld: warning: libopencv_core.so.4.4, needed by /home/yzl/My_Research/vins-mono-imu_ws/devel/lib/libcamera_model.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libboost_filesystem.so.1.65.1, needed by /opt/ros/melodic/lib/libroscpp.so, may conflict with libboost_filesystem.so.1.81.0
/usr/bin/ld: warning: libopencv_imgcodecs.so.4.4, needed by /home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/build/lib/libopencv_highgui.so.4.4.0, may conflict with libopencv_imgcodecs.so.3.2
CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o：在函数‘FeatureTracker::showUndistortion(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’中：
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/feature_tracker/src/feature_tracker.cpp:225：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘restart_callback(boost::shared_ptr<stdmsgs::Bool<std::allocator > const> const&)’中：
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:238：
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:124：对‘ros::console::initializeLogLocation(ros::console::LogLocation , std::string const&, ros::console::levels::Level)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:171：对‘ros::console::initializeLogLocation(ros::console::LogLocation, std::string const&, ros::console::levels::Level)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:117：对‘ros::console::initializeLogLocation(ros::console::LogLocation, std::string const&, ros::console::levels::Level)’未定义的引用
CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o:/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:307: 跟着更多未定义的参考到 ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)
CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o：在函数‘main’中：
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:403：对‘ros::init(int&, char*, std::string const&, unsigned int)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/estimator_node.cpp:404：对‘ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less, std::allocator<std::pair<std::string const, std::string> > > const&)’未定义的引用
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/home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/modules/core/include/opencv2/core/persistence.hpp:1280ros::console::initializeLogLocation(ros::console::LogLocation, std::string const&, ros::console::levels::Level)
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/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/parameters.cpp:32：对‘ros::console::print(ros::console::FilterBase , void, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const , int, char const)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/parameters.cpp:3673：对‘cv::error(int, std::string const&, char const, char const, int)’未定义的引用
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/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/factor/imu_factor.h:121：对‘ros::console::initializeLogLocation(ros::console::LogLocation, std::string const&, ros::console::levels::Level)’未定义的引用
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/home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/modules/core/include/opencv2/core/persistence.hpp:1224：对‘cv::write(cv::FileStorage&, std::string const&, cv::Mat const&)’未定义的引用
/home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/modules/core/include/opencv2/core/persistence.hpp:1235：对‘cv::operator<<(cv::FileStorage&, std::string const&)’未定义的引用
/home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/modules/core/include/opencv2/core/persistence.hpp:1224：对‘cv::write(cv::FileStorage&, std::string const&, cv::Mat const&)’未定义的引用
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/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/utility/visualization.cpp:71：对‘ros::console::print(ros::console::FilterBase, void, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits, std::allocator > const&, char const , int, char const)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/utility/visualization.cpp:71：对‘ros::console::initializeLogLocation(ros::console::LogLocation, std::string const&, ros::console::levels::Level)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/utility/visualization.cpp:70：
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/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/initial/solve_5pts.cpp:132：对‘cv::error(int, std::string const&, char const, char const, int)’未定义的引用
/home/yzl/My_Research/vins-mono-imu_ws/src/Vins-with-IMU-NN/vins_estimator/src/initial/solve_5pts.cpp:40：对‘cv::error(int, std::string const&, char const, char const, int)’未定义的引用
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/home/yzl/DEV_SLAM/ThirdParty/opencv-4.4.0/modules/core/include/opencv2/core/mat.inl.hpp:1736：对‘cv::error(int, le, 3, 1, 0, 3, 1> > > >, Eigen::Quaternion<double, 0>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)’中：
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/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnXgesvdjSetSortEig@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vsCbrt’未定义的引用
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/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘MKL_Somatcopy’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vmdAtan’未定义的引用
packages/torch/lib/libtorch_cpu.so：对‘mkl_lapack_dormql’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vdLog1p’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZsymv_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘mkl_lapack_sormql’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘__cudaUnregisterFatBinary@libcudart.so.10.2’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnCreateGesvdjInfo@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘viRngBernoulli’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnDestroyGesvdjInfo@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vmdTan’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnDgetrf@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZgemmStridedBatched@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusparseCreateMatDescr@libcusparse.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasCgeam@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZgeru_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vsExp’未定义的引用
packages/torch/lib/libtorch_cpu.so：对‘vmdAcos’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vsCosh’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnSgesvdj_bufferSize@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-e-packages/torch/lib/libtorch_cuda.so：对‘cublasDgetriBatched@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusolverDnSgetrf_bufferSize@libcusolver.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZgeam@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasCdotu_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusparseScsrgemm2_bufferSizeExt@libcusparse.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasDgeam@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasSasum_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZgetrfBatched@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZhemv_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZrot_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasScasum_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cpu.so：对‘vsSin’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cusparseXcoosortByRow@libcusparse.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-packages/torch/lib/libtorch_cuda.so：对‘cublasZsyrk_v2@libcublas.so.10’未定义的引用
/home/yzl/miniconda3/pkgs/pytorch-1.8.2-py3.8_cuda10.2_cudnn7.6.5_0/lib/python3.8/site-