编译时候链接错误

[deepConnectionism]

[ 93%] Built target pose_graph
[ 95%] Linking CXX executable /workspace/VINS_MONO/RAFT_vins_ws/devel/lib/feature_tracker/feature_tracker
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker_node.cpp.o: in function `img_callback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
feature_tracker_node.cpp:(.text+0x76c): undefined reference to `cv_bridge::toCvCopy(sensor_msgs::Image_<std::allocator<void> > const&, std::string const&)'
/usr/bin/ld: feature_tracker_node.cpp:(.text+0x14ae): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text+0x1526): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text+0x1605): undefined reference to `cv_bridge::toCvCopy(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::string const&)'
/usr/bin/ld: feature_tracker_node.cpp:(.text+0x16c6): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker_node.cpp.o: in function `void ros::Publisher::publish<std_msgs::Bool_<std::allocator<void> > >(std_msgs::Bool_<std::allocator<void> > const&) const':
feature_tracker_node.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x3c9): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x4a9): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x579): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x659): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker_node.cpp.o:feature_tracker_node.cpp:(.text._ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_[_ZNK3ros9Publisher7publishIN8std_msgs5Bool_ISaIvEEEEEvRKT_]+0x779): more undefined references to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' follow
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker_node.cpp.o: in function `main':
feature_tracker_node.cpp:(.text.startup+0x60): undefined reference to `ros::init(int&, char**, std::string const&, unsigned int)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0xe9): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0x13e): undefined reference to `ros::console::set_logger_level(std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0x19c): undefined reference to `cv::imread(std::string const&, int)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0x642): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0x6bd): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker_node.cpp:(.text.startup+0x7b6): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker_node.cpp.o: in function `ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)':
feature_tracker_node.cpp:(.text._ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE[_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE]+0x624): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/parameters.cpp.o: in function `readParameters(ros::NodeHandle&)':
parameters.cpp:(.text+0xbe): undefined reference to `cv::FileStorage::FileStorage(std::string const&, int, std::string const&)'
/usr/bin/ld: parameters.cpp:(.text+0x1a7): undefined reference to `cv::read(cv::FileNode const&, std::string&, std::string const&)'
/usr/bin/ld: parameters.cpp:(.text+0x1e2): undefined reference to `cv::read(cv::FileNode const&, std::string&, std::string const&)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/parameters.cpp.o: in function `std::string readParam<std::string>(ros::NodeHandle&, std::string)':
parameters.cpp:(.text._Z9readParamISsET_RN3ros10NodeHandleESs[_Z9readParamISsET_RN3ros10NodeHandleESs]+0x49): undefined reference to `ros::NodeHandle::getParam(std::string const&, std::string&) const'
/usr/bin/ld: parameters.cpp:(.text._Z9readParamISsET_RN3ros10NodeHandleESs[_Z9readParamISsET_RN3ros10NodeHandleESs]+0x291): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: parameters.cpp:(.text._Z9readParamISsET_RN3ros10NodeHandleESs[_Z9readParamISsET_RN3ros10NodeHandleESs]+0x41d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: parameters.cpp:(.text._Z9readParamISsET_RN3ros10NodeHandleESs[_Z9readParamISsET_RN3ros10NodeHandleESs]+0x49d): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: parameters.cpp:(.text._Z9readParamISsET_RN3ros10NodeHandleESs[_Z9readParamISsET_RN3ros10NodeHandleESs]+0x701): undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o: in function `FeatureTracker::readIntrinsicParameter(std::string const&)':
feature_tracker.cpp:(.text+0xcea): undefined reference to `camodocal::CameraFactory::generateCameraFromYamlFile(std::string const&)'
/usr/bin/ld: feature_tracker.cpp:(.text+0xec9): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o: in function `FeatureTracker::showUndistortion(std::string const&)':
feature_tracker.cpp:(.text+0x15dd): undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o: in function `FeatureTracker::rejectWithF()':
feature_tracker.cpp:(.text+0x1f7c): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker.cpp:(.text+0x2017): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker.cpp:(.text+0x20f0): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o: in function `FeatureTracker::readImage(cv::Mat const&, double)':
feature_tracker.cpp:(.text+0x4663): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: feature_tracker.cpp:(.text+0x46f3): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/usr/bin/ld: CMakeFiles/feature_tracker.dir/src/feature_tracker.cpp.o:feature_tracker.cpp:(.text+0x4757): more undefined references to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' follow
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_pad_enum::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, long, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_upsample_nearest_exact1d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::arange::call(c10::Scalar const&, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_upsample_nearest_exact2d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::SymInt::operator<(long) const'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_bilinear2d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::softmax_int::call(at::Tensor const&, long, c10::optional<c10::ScalarType>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::clone::call(at::Tensor const&, c10::optional<c10::MemoryFormat>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::arange_start::call(c10::Scalar const&, c10::Scalar const&, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::SymInt::operator!=(long) const'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_upsample_bilinear2d_aa::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_linear1d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::to_dtype::call(at::Tensor const&, c10::ScalarType, bool, bool, c10::optional<c10::MemoryFormat>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::avg_pool2d::call(at::Tensor const&, c10::ArrayRef<long>, c10::ArrayRef<long>, c10::ArrayRef<long>, bool, bool, c10::optional<long>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_nearest1d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_upsample_bicubic2d_aa::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `torch::jit::Method::operator()(std::vector<c10::IValue, std::allocator<c10::IValue> >, std::unordered_map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, c10::IValue, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, c10::IValue> > > const&) const'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::scalar_tensor::call(c10::Scalar const&, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_nearest3d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_nearest2d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::Error::Error(c10::SourceLocation, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::to_dtype_layout::call(at::Tensor const&, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>, bool, bool, c10::optional<c10::MemoryFormat>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::Warning::Warning(c10::variant<c10::Warning::UserWarning, c10::Warning::DeprecationWarning>, c10::SourceLocation, char const*, bool)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::detail::torchInternalAssertFail(char const*, char const*, unsigned int, char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::sum_dim_IntList::call(at::Tensor const&, c10::OptionalArrayRef<long>, bool, c10::optional<c10::ScalarType>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::_upsample_nearest_exact3d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, c10::optional<double>, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::Warning::Warning(c10::variant<c10::Warning::UserWarning, c10::Warning::DeprecationWarning>, c10::SourceLocation const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `c10::detail::torchCheckFail(char const*, char const*, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::linspace::call(c10::Scalar const&, c10::Scalar const&, long, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::empty_like::call(at::Tensor const&, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>, c10::optional<c10::MemoryFormat>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `torch::jit::Object::find_method(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::zeros::call(c10::ArrayRef<c10::SymInt>, c10::optional<c10::ScalarType>, c10::optional<c10::Layout>, c10::optional<c10::Device>, c10::optional<bool>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `torch::jit::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, c10::optional<c10::Device>, bool)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_bicubic2d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>, c10::optional<double>)'
/usr/bin/ld: /workspace/VINS_MONO/RAFT_vins_ws/src/RAFT-VINS/feature_tracker/src/raftflow/lib/liboptical_flow.so: undefined reference to `at::_ops::upsample_trilinear3d::call(at::Tensor const&, c10::ArrayRef<c10::SymInt>, bool, c10::optional<double>, c10::optional<double>, c10::optional<double>)'
collect2: error: ld returned 1 exit status
make[2]: *** [RAFT-VINS/feature_tracker/CMakeFiles/feature_tracker.dir/build.make:386: /workspace/VINS_MONO/RAFT_vins_ws/devel/lib/feature_tracker/feature_tracker] Error 1
make[1]: *** [CMakeFiles/Makefile2:1835: RAFT-VINS/feature_tracker/CMakeFiles/feature_tracker.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

请问有遇到这个问题吗？

[deepConnectionism]

您使用的 libtorch 版本是多少呢？最新版要求使用 C++ 17

[deepConnectionism]

I have solved the problem