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felixendres / rgbdslam_v2

RGB-D SLAM for ROS
GNU General Public License v3.0
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rgbdslam_v2 build issue about graph_manager.cpp #85

Open liuhuxian opened 6 years ago

liuhuxian commented 6 years ago

Hello！ when i run catkin_make on my catkin workspace, i got the following error(this is the edition that i translated some chinese into english)

[ 65%] Linking CXX executable /home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)’：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE]+0xdd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’undefined reference 
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)’：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’undefined reference 
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8)：对‘g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)’undefined reference 
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1c6)：对‘g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)’undefined reference 
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12solvePatternERNS_17SparseBlockMatrixIS3_EERKSt6vectorISt4pairIiiESaISA_EERKS6_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12solvePatternERNS_17SparseBlockMatrixIS3_EERKSt6vectorISt4pairIiiESaISA_EERKS6_]+0xdd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’undefined reference 
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’undefined reference 
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o： In function ‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, double*, double*)’：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8)：对‘g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)’undefined reference 
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1c6)：对‘g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)’undefined reference 
collect2: error: ld returned 1 exit status
rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/build.make:1470: recipe for target '/home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam' failed
make[2]: *** [/home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam] Error 1
CMakeFiles/Makefile2:5187: recipe for target 'rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/all' failed
make[1]: *** [rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

these are the original error log

[ 65%] Linking CXX executable /home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE]+0xdd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’未定义的引用
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’未定义的引用
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8)：对‘g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)’未定义的引用
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1c6)：对‘g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)’未定义的引用
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12solvePatternERNS_17SparseBlockMatrixIS3_EERKSt6vectorISt4pairIiiESaISA_EERKS6_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE12solvePatternERNS_17SparseBlockMatrixIS3_EERKSt6vectorISt4pairIiiESaISA_EERKS6_]+0xdd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’未定义的引用
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE]+0xfd)：对‘g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)’未定义的引用
CMakeFiles/rgbdslam.dir/src/graph_manager.cpp.o：在函数‘g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1, 0, -1, -1> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, double*, double*)’中：
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0xe8)：对‘g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)’未定义的引用
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[_ZN3g2o19LinearSolverCSparseIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_]+0x1c6)：对‘g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)’未定义的引用
collect2: error: ld returned 1 exit status
rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/build.make:1470: recipe for target '/home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam' failed
make[2]: *** [/home/lizhan/catkin_ws/devel/lib/rgbdslam/rgbdslam] Error 1
CMakeFiles/Makefile2:5187: recipe for target 'rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/all' failed
make[1]: *** [rgbdslam_v2-kinetic/CMakeFiles/rgbdslam.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

what can i do to fix this issue? please help me!

liuhuxian commented 6 years ago

i accidentally fixed my problem. i run the following code 

sudo rm -rf /usr/local/include/g2o
sudo rm -rf /usr/local/liblibg2o_*.so

and delete my old g2o folder, and repeat the step that install g2o package.