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NudtCalculus / LVI-SAM-modified

LVI-SAM with teaser++, multi-threads gicp and scan context
BSD 3-Clause "New" or "Revised" License
23 stars 1 forks source link

编译报错 #2

Open isqjsnao opened 7 months ago

isqjsnao commented 7 months ago

CMakeFiles/all_tests.dir/evaluation-test.cc.o：在函数‘EvaluationTest_Simple_Test::TestBody()’中： evaluation-test.cc:(.text+0x2d0)：对‘teaser::SolutionEvaluator::SolutionEvaluator(Eigen::Matrix<double, 3, -1, 0, 3, -1> const&, Eigen::Matrix<double, 3, -1, 0, 3, -1> const&, double)’未定义的引用 evaluation-test.cc:(.text+0x371)：对‘teaser::SolutionEvaluator::computeErrorMetric(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 evaluation-test.cc:(.text+0x43a)：对‘teaser::SolutionEvaluator::~SolutionEvaluator()’未定义的引用 CMakeFiles/all_tests.dir/evaluation-test.cc.o：在函数‘EvaluationTest_Simple_Test::TestBody() [clone .cold]’中： evaluation-test.cc:(.text.unlikely+0xb9)：对‘teaser::SolutionEvaluator::~SolutionEvaluator()’未定义的引用 collect2: error: ld returned 1 exit status test/teaser/CMakeFiles/all_tests.dir/build.make:296: recipe for target 'test/teaser/all_tests' failed make[2]: [test/teaser/all_tests] Error 1 CMakeFiles/Makefile2:579: recipe for target 'test/teaser/CMakeFiles/all_tests.dir/all' failed make[1]: [test/teaser/CMakeFiles/all_tests.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2

您好，在编译teaser++过程中报错如上，请问如何解决呀

NudtCalculus commented 7 months ago

我在Ubuntu18.04上没有遇到过这个问题，你或许可以参考NeBula-Autonomy/LAMP#20. @isqjsnao

isqjsnao commented 7 months ago

我在Ubuntu18.04上没有遇到过这个问题，你或许可以参考NeBula-Autonomy/LAMP#20. @isqjsnao

谢谢您，问题已经解决。但是今天在我编译你的代码的时候又报错如下opencv问题,请问opencv版本需要4.0吗，我现在是3版本，但是原版lvi-sam我可以运行成功。 CMake Error at LVI-SAM-modified/CMakeLists.txt:43 (find_package): Could not find a configuration file for package "OpenCV" that is compatible with requested version "4".

The following configuration files were considered but not accepted:

/usr/share/OpenCV/OpenCVConfig.cmake, version: 3.2.0

-- Configuring incomplete, errors occurred! See also "/home/zyp/LVI_SAM_plus/build/CMakeFiles/CMakeOutput.log". See also "/home/zyp/LVI_SAM_plus/build/CMakeFiles/CMakeError.log".

isqjsnao commented 7 months ago

我在Ubuntu18.04上没有遇到过这个问题，你或许可以参考NeBula-Autonomy/LAMP#20. @isqjsnao

谢谢您，问题已经解决。但是今天在我编译你的代码的时候又报错如下opencv问题,请问opencv版本需要4.0吗，我现在是3版本，但是原版lvi-sam我可以运行成功。 CMake Error at LVI-SAM-modified/CMakeLists.txt:43 (find_package): Could not find a configuration file for package "OpenCV" that is compatible with requested version "4".

The following configuration files were considered but not accepted:

/usr/share/OpenCV/OpenCVConfig.cmake, version: 3.2.0

-- Configuring incomplete, errors occurred! See also "/home/zyp/LVI_SAM_plus/build/CMakeFiles/CMakeOutput.log". See also "/home/zyp/LVI_SAM_plus/build/CMakeFiles/CMakeError.log".

刚刚这个问题我已经解决，把cmakelists文件中的opnecv改成了3版本，编译成功了。但是我运行ros launch lvi_sam run.launch文件报错如下：[lvi_sam_mapOptmization-8] process has died [pid 13543, exit code 127, cmd /home/zyp/LVI_plus01/devel/lib/lvi_sam/lvi_sam_mapOptmization name:=lvi_sam_mapOptmization log:=/home/zyp/.ros/log/7eca333a-e654-11ee-9dcf-6c24085b729f/lvi_sam_mapOptmization-8.log]. log file: /home/zyp/.ros/log/7eca333a-e654-11ee-9dcf-6c24085b729f/lvi_sam_mapOptmization-8.log [lvi_sam_visual_feature-9] process has died [pid 13535, exit code -11, cmd /home/zyp/LVI_plus01/devel/lib/lvi_sam/lvi_sam_visual_feature __name:=lvi_sam_visual_feature __log:=/home/zyp/.ros/log/7eca333a-e654-11ee-9dcf-6c24085b729f/lvi_sam_visual_feature-9.log]. log file: /home/zyp/.ros/log/7eca333a-e654-11ee-9dcf-6c24085b729f/lvi_sam_visual_feature-9.log。这该如何解决

NudtCalculus commented 7 months ago

@isqjsnao 你可以将[https://github.com/NudtCalculus/LVI-SAM-modified/blob/dd6fe966206ec733c51e8f9b1b9db5e88f42632d/CMakeLists.txt#L13] 修改为"RelWithDebInfo“或者"Debug"进行调试，寻找报错的代码段。如果你使用的是Ubuntu20.04，可以参考 [https://github.com/NeSC-IV/LVI-SAM-Easyused] 。如果使用OpenCV4编译需要将所有#include <opencv/cv.h>更改为<opencv2/opencv.hpp>( [https://github.com/NeSC-IV/LVI-SAM-Easyused] )，同时需要编译与OpenCV4适配的cv_bridge，否则cv::FileStorage会出错。