catkin_make --pkg sg-slam 编译失败，是因为pcl版本的问题吗，请问作者使用的pcl版本

[lz-e]

编译信息： [ 20%] Building CXX object sg-slam/CMakeFiles/sg-slam.dir/src/ObjectDatabase.cc.o [ 23%] Building CXX object sg-slam/CMakeFiles/sg-slam.dir/src/PointcloudMapping.cc.o In file included from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/src/PointcloudMapping.cc:6:0: /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:202:14: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] std::auto_ptr impl_; ^~~~ In file included from /usr/include/c++/7/memory:80:0, from /usr/include/c++/7/thread:39, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/include/System.h:26, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/include/PointcloudMapping.h:55, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/src/PointcloudMapping.cc:1: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ CMakeFiles/Makefile2:4254: recipe for target 'sg-slam/CMakeFiles/sg-slam.dir/all' failed make[1]: [sg-slam/CMakeFiles/sg-slam.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j12 -l12" failed

[silencht]

my libpcl-dev version is 1.8.1, eigen version is 3.3.4 It looks like the PCL compilation just came up with a warning rather than an error. Is there an error in some other location?

[lz-e]

It looks like the PCL compilation just came up with a warning rather than an error. Is there an error in some other location? lz@lz-Lenovo-Legion-Y7000:~/catkin_ws/src/SG-SLAM$ catkin_make --pkg sg-slam Base path: /home/lz/catkin_ws/src/SG-SLAM Source space: /home/lz/catkin_ws/src/SG-SLAM/src Build space: /home/lz/catkin_ws/src/SG-SLAM/build Devel space: /home/lz/catkin_ws/src/SG-SLAM/devel Install space: /home/lz/catkin_ws/src/SG-SLAM/install

Running command: "make cmake_check_build_system" in "/home/lz/catkin_ws/src/SG-SLAM/build"

Running command: "make -j12 -l12" in "/home/lz/catkin_ws/src/SG-SLAM/build/sg-slam"

[ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target sensor_msgs_generate_messages_lisp [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 8%] Built target cv_bridge [ 17%] Built target image_geometry Consolidate compiler generated dependencies of target sg-slam make[2]: No rule to make target '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/Thirdparty/g2o/lib/libg2o.so', needed by '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/lib/libsg-slam.so'. Stop. make[2]: Waiting for unfinished jobs.... [ 20%] Building CXX object sg-slam/CMakeFiles/sg-slam.dir/src/ObjectDatabase.cc.o [ 23%] Building CXX object sg-slam/CMakeFiles/sg-slam.dir/src/PointcloudMapping.cc.o In file included from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/src/PointcloudMapping.cc:6:0: /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:202:14: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] std::auto_ptr impl_; ^~~~ In file included from /usr/include/c++/7/memory:80:0, from /usr/include/c++/7/thread:39, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/include/System.h:26, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/include/PointcloudMapping.h:55, from /home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/src/PointcloudMapping.cc:1: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ CMakeFiles/Makefile2:4254: recipe for target 'sg-slam/CMakeFiles/sg-slam.dir/all' failed make[1]: [sg-slam/CMakeFiles/sg-slam.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: [all] Error 2

这是所有的编译信息了，没有其他地方报错，我的是pcl 1.7 eigen3.3.1。

[silencht]

Consolidate compiler generated dependencies of target sg-slam make[2]: *** No rule to make target '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/Thirdparty/g2o/lib/libg2o.so', needed by '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/lib/libsg-slam.so'. Stop.

这里可能是关键所在。 你成功运行过./ThirdpartyBuild.sh了吗？该脚本下主要编译DBoW2、g2o、ncnn（还需手动编译配置）等库。

[lz-e]

Consolidate compiler generated dependencies of target sg-slam make[2]: *** No rule to make target '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/Thirdparty/g2o/lib/libg2o.so', needed by '/home/lz/catkin_ws/src/SG-SLAM/src/sg-slam/lib/libsg-slam.so'. Stop.

这里可能是关键所在。 你成功运行过./ThirdpartyBuild.sh了吗？该脚本下主要编译DBoW2、g2o、ncnn（还需手动编译配置）等库。 谢谢！确实因为g2o没有编译成功，因为找不到eigen3，已解决问题。现在编译成功了。