ch4编译时出现问题

[161180134]

CMakeFiles/useSophus.dir/useSophus.cpp.o：在函数‘main’中： useSophus.cpp:(.text+0xd2)：对‘Sophus::SO3::SO3(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)’未定义的引用 useSophus.cpp:(.text+0xf5)：对‘Sophus::SO3::SO3(double, double, double)’未定义的引用 useSophus.cpp:(.text+0x127)：对‘Sophus::SO3::SO3(Eigen::Quaternion<double, 0> const&)’未定义的引用 useSophus.cpp:(.text+0x1f7)：对‘Sophus::SO3::log() const’未定义的引用 useSophus.cpp:(.text+0x279)：对‘Sophus::SO3::hat(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x2cf)：对‘Sophus::SO3::hat(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x2e8)：对‘Sophus::SO3::vee(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)’未定义的引用 useSophus.cpp:(.text+0x38a)：对‘Sophus::SO3::exp(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x3aa)：对‘Sophus::SO3::operator(Sophus::SO3 const&) const’未定义的引用 useSophus.cpp:(.text+0x47b)：对‘Sophus::SE3::SE3(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x49b)：对‘Sophus::SE3::SE3(Eigen::Quaternion<double, 0> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x558)：对‘Sophus::SE3::log() const’未定义的引用 useSophus.cpp:(.text+0x5ef)：对‘Sophus::SE3::hat(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x645)：对‘Sophus::SE3::hat(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x65e)：对‘Sophus::SE3::vee(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&)’未定义的引用 useSophus.cpp:(.text+0x6f7)：对‘Sophus::SE3::exp(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)’未定义的引用 useSophus.cpp:(.text+0x717)：对‘Sophus::SE3::operator(Sophus::SE3 const&) const’未定义的引用 useSophus.cpp:(.text+0x75b)：对‘Sophus::SE3::matrix() const’未定义的引用 CMakeFiles/useSophus.dir/useSophus.cpp.o：在函数‘Sophus::operator<<(std::ostream&, Sophus::SO3 const&)’中： useSophus.cpp:(.text._ZN6SophuslsERSoRKNS_3SO3E[_ZN6SophuslsERSoRKNS_3SO3E]+0x2e)：对‘Sophus::SO3::log() const’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/useSophus.dir/build.make:94: recipe for target 'useSophus' failed make[2]: [useSophus] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/useSophus.dir/all' failed make[1]: [CMakeFiles/useSophus.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2

[gaoxiang12]

貌似没链接sohpus库，检查你的cmakelists

[161180134]

貌似没链接sohpus库，检查你的cmakelists

看了一下CmakeList.txt,感觉没问题呀。就是下面几行 cmake_minimum_required( VERSION 2.8 ) project( useSophus )

为使用 sophus，您需要使用find_package命令找到它

find_package( Sophus REQUIRED ) include_directories( ${Sophus_INCLUDE_DIRS} )

add_executable( useSophus useSophus.cpp ) target_link_libraries( useSophus ${Sophus_LIBRARIES} )

[ghost]

I have the same problem. How did you fix it?