c++ - catkin_make»/usr/bin/ld : cannot find -lcsparse

Question

我正在尝试获取 LSD_SLAM工作，但是当以 91% 的速度运行 catkin_make 命令时。我收到错误消息/usr/bin/ld:
/usr/bin/ld: 找不到 -lcsparse我已经尝试使用此命令进行软链接(soft link) sudo ln -s/usr/local/lib/libg2o_solver_csparse.so/usr/bin/lcsparse.so 但这并不能解决问题。

这里是完整的错误信息:

    [ 91%] Linking CXX shared library /home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so
    /usr/bin/ld: cannot find -lcsparse
    collect2: error: ld returned 1 exit status
    lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:755: recipe for target '/home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so' failed
    make[2]: * [/home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so] Error 1 CMakeFiles/Makefile2:2385: recipe for target 'lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all' failed
    make[1]: [lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all] Error 2 Makefile:140: recipe for target 'all' failed
    make: ** [all] Error 2
    Invoking "make -j4 -l4" failed

老实说，我不知道我还应该尝试什么，因为 apt 中也没有名为 lcsparse 的东西。此外，我还在另外两台计算机上尝试过，但仍然因为这个错误而卡住。

以下是我安装的一些信息，可能对我有帮助:

• openCV 4.1.1-pre
• ROS 旋律
• Ubuntu 18.04
• CMake 3.10.2
• CatKin_tools 0.4.5
• python 3.6.8
• g2o (必须使用这个旧版本来修复另一个错误)

编辑 1:

这里还有CMakeList.txt

cmake_minimum_required(VERSION 2.8.7)
project(lsd_slam_core)

# Set the build type. Options are:
#  Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug : w/ debug symbols, w/o optimization
#  Release : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
set(CMAKE_BUILD_TYPE Release)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  OpenCV
  dynamic_reconfigure
  sensor_msgs
  image_transport
  roscpp
  rosbag
  cmake_modules
  lsd_slam_viewer
)

find_package(Eigen3 REQUIRED)
find_package(X11 REQUIRED)
include(cmake/FindG2O.cmake)
include(cmake/FindSuiteParse.cmake)


message("-- CHOLMOD_INCLUDE_DIR : " ${CHOLMOD_INCLUDE_DIR})
message("-- CSPARSE_INCLUDE_DIR : " ${CSPARSE_INCLUDE_DIR})
message("-- G2O_INCLUDE_DIR : " ${G2O_INCLUDE_DIR})

# FabMap
# uncomment this part to enable fabmap
#add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap)
#include_directories(${PROJECT_SOURCE_DIR}/thirdparty/openFabMap/include)
#add_definitions("-DHAVE_FABMAP")
#set(FABMAP_LIB openFABMAP )

generate_dynamic_reconfigure_options(
  cfg/LSDDebugParams.cfg
  cfg/LSDParams.cfg
)

catkin_package(
  LIBRARIES lsdslam
  DEPENDS EIGEN3 SuiteSparse
  CATKIN_DEPENDS libg2o
)

# SSE flags
add_definitions("-DUSE_ROS")
add_definitions("-DENABLE_SSE")

# Also add some useful compiler flag
set(CMAKE_CXX_FLAGS
   "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++0x"
)

# Set source files
set(lsd_SOURCE_FILES
  ${PROJECT_SOURCE_DIR}/src/DataStructures/Frame.cpp
  ${PROJECT_SOURCE_DIR}/src/DataStructures/FramePoseStruct.cpp
  ${PROJECT_SOURCE_DIR}/src/DataStructures/FrameMemory.cpp
  ${PROJECT_SOURCE_DIR}/src/SlamSystem.cpp
  ${PROJECT_SOURCE_DIR}/src/LiveSLAMWrapper.cpp
  ${PROJECT_SOURCE_DIR}/src/DepthEstimation/DepthMap.cpp
  ${PROJECT_SOURCE_DIR}/src/DepthEstimation/DepthMapPixelHypothesis.cpp
  ${PROJECT_SOURCE_DIR}/src/util/globalFuncs.cpp
  ${PROJECT_SOURCE_DIR}/src/util/SophusUtil.cpp
  ${PROJECT_SOURCE_DIR}/src/util/settings.cpp
  ${PROJECT_SOURCE_DIR}/src/util/Undistorter.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/Sim3Tracker.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/Relocalizer.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/SE3Tracker.cpp
  ${PROJECT_SOURCE_DIR}/src/Tracking/TrackingReference.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Timestamp.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/FabMap.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/KeyFrameGraph.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/g2oTypeSim3Sophus.cpp
  ${PROJECT_SOURCE_DIR}/src/GlobalMapping/TrackableKeyFrameSearch.cpp
)
set(SOURCE_FILES
  ${lsd_SOURCE_FILES}
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ROS/ROSImageStreamThread.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp
)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
  ${PROJECT_SOURCE_DIR}/src
  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
  ${CSPARSE_INCLUDE_DIR} #Has been set by SuiteParse
  ${CHOLMOD_INCLUDE_DIR} #Has been set by SuiteParse
  ${OpenCV_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
)

# build shared library.
add_library(lsdslam SHARED ${SOURCE_FILES})
target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsparse X11)
#rosbuild_link_boost(lsdslam thread)


# build live ros node
add_executable(live_slam src/main_live_odometry.cpp)
target_link_libraries(live_slam lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})


# build image node
add_executable(dataset src/main_on_images.cpp)
add_dependencies(lsdslam lsd_slam_viewer_generate_messages_cpp)
add_dependencies(live_slam lsd_slam_viewer_generate_messages_cpp)
add_dependencies(dataset lsd_slam_viewer_generate_messages_cpp)
target_link_libraries(dataset lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})
target_link_libraries(live_slam lsdslam ${OpenCV_LIBRARIES})

# TODO add INSTALL

编辑2:

或多或少修复了错误消息的问题...我将其添加到我的 CMakeList.txt 的顶部

find_path(CSPARSE_INCLUDE_DIR NAMES cs.h
  PATHS
  /usr/include/suitesparse
  /usr/include
  /opt/local/include
  /usr/local/include
  /sw/include
  /usr/include/ufsparse
  /opt/local/include/ufsparse
  /usr/local/include/ufsparse
  /sw/include/ufsparse
  PATH_SUFFIXES
  suitesparse
  )

并将 target_linked_libraries 中的 csparse 和 cxsparse 替换为 ${CSPARSE_INCLUDE_DIR}。现在我在 *** 遇到了 undefined reference 看这里:

/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_post«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_etree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_pinv«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_counts«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_sfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_spfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_nfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_amd«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_cumsum«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_symperm«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_schol«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_calloc«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_malloc«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_free«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)«
collect2: error: ld returned 1 exit status
lsd_slam/lsd_slam_core/CMakeFiles/live_slam.dir/build.make:232: recipe for target '/home/alex/Schreibtisch/workspace/devel/lib/lsd_slam_core/live_slam' failed
make[2]: *** [/home/alex/Schreibtisch/workspace/devel/lib/lsd_slam_core/live_slam] Error 1
CMakeFiles/Makefile2:2348: recipe for target 'lsd_slam/lsd_slam_core/CMakeFiles/live_slam.dir/all' failed
make[1]: *** [lsd_slam/lsd_slam_core/CMakeFiles/live_slam.dir/all] Error 2
Makefile:140: recipe for target 'all' failed

HERE也是完整的输出。

Answer 1

好的，我自己修好了。这是我执行的步骤。首先，我做了编辑 2 中解释的步骤。之后我得到了一些undefined reference的东西，我先安装libsuitesparse-dev然后编译g2o
它对我有用，所以我希望它对你也有用。