我该如何解决这个问题“......SO：未定义对“...” 的引用-解网

问：

我已经在互联网上浏览了几个小时的类似情况，但我已经尝试了所有解决方案，但我的代码无法正常工作。我正在使用一个名为“vdo_slam”的库，该库已经构建，可以在中找到。在我的项目中，我可以没有错误。我唯一的问题是在“catkin_build”的末尾，我得到了几个“对......”的未定义引用......”如下图所示。我尝试了下面列出的几种解决方案。所有这些未定义的引用都在“vdo_slam”包中声明和定义。任何帮助都是值得赞赏的。/usr/local/include/vdo_slamCMakeList.txtfind_package(vdo_slam REQUIRED)

我尝试过的已知解决方案：

我查找了错误中提到的类和函数，看看是否有此处提到的纯虚拟析构函数，但它们都已可靠定义。
我尝试使用“readelf”命令进行调试，如下所示。但是我没有“libvdo_slam.so”，它实际上在错误中包含这些功能。我想当我运行这个“readelf”命令时，我需要有“libvdo_slam.so”，对吧？我该如何添加？

来自“catkin_build”的错误消息：

/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `typeinfo for VDO_SLAM::Visualizer2D'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `vtable for VDO_SLAM::Visualizer2D'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined referealtime_vdo_slam/CMakeFiles/ros_vdoslam_node.dir/all' failed
make[3]: *** [my_realtime_vdo_slam/CMakeFiles/ros_vdoslam_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failede/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `VDO_SLAM::BoundingBox::BoundingBox(double, double, double, double)'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `VDO_SLAM::Scene::Scene()'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `VDO_SLAM::Visualizer2D::spinOnce(std::shared_ptr<VDO_SLAM::Scene>&)'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `VDO_SLAM::Scene::add_scene_object(std::shared_ptr<VDO_SLAM::SceneObject>&)'
/home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so: undefined reference to `VDO_SLAM::Visualizer2D::Visualizer2D(std::shared_ptr<VDO_SLAM::VisualizerParams>&)'
collect2: error: ld returned 1 exit status
my_realtime_vdo_slam/CMakeFiles/ros_vdoslam_node.dir/build.make:226: recipe for target '/home/tranks/testing_ws/devel/lib/my_realtime_vdo_slam/ros_vdoslam_node' failed
make[3]: *** [/home/tranks/testing_ws/devel/lib/my_realtime_vdo_slam/ros_vdoslam_node] Error 1
CMakeFiles/Makefile2:6593: recipe for target 'my_realtime_vdo_slam/CMakeFiles/ros_vdoslam_node.dir/all' failed
make[3]: *** [my_realtime_vdo_slam/CMakeFiles/ros_vdoslam_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

$ readelf --dynamic /home/tranks/testing_ws/devel/lib/libmy_realtime_vdo_slam.so

    Dynamic section at offset 0x161608 contains 42 entries:
      Tag        Type                         Name/Value
     0x0000000000000001 (NEEDED)             Shared library: [libimage_transport.so]
     0x0000000000000001 (NEEDED)             Shared library: [libcv_bridge.so]
     0x0000000000000001 (NEEDED)             Shared library: [libopencv_core.so.3.2]
     0x0000000000000001 (NEEDED)             Shared library: [libtf2_ros.so]
     0x0000000000000001 (NEEDED)             Shared library: [libtf2.so]
     0x0000000000000001 (NEEDED)             Shared library: [libroscpp.so]
     0x0000000000000001 (NEEDED)             Shared library: [libroscpp_serialization.so]
     0x0000000000000001 (NEEDED)             Shared library: [librosconsole.so]
     0x0000000000000001 (NEEDED)             Shared library: [librostime.so]
     0x0000000000000001 (NEEDED)             Shared library: [libboost_system.so.1.65.1]
     0x0000000000000001 (NEEDED)             Shared library: [libpthread.so.0]
     0x0000000000000001 (NEEDED)             Shared library: [libopencv_highgui.so.3.4]
     0x0000000000000001 (NEEDED)             Shared library: [libstdc++.so.6]
     0x0000000000000001 (NEEDED)             Shared library: [libm.so.6]
     0x0000000000000001 (NEEDED)             Shared library: [libgcc_s.so.1]
     0x0000000000000001 (NEEDED)             Shared library: [libc.so.6]
     0x0000000000000001 (NEEDED)             Shared library: [ld-linux-x86-64.so.2]
     0x000000000000000e (SONAME)             Library soname: [libmy_realtime_vdo_slam.so]
     0x000000000000001d (RUNPATH)            Library runpath: [/home/tranks/testing_ws/devel/lib:/opt/ros/melodic/lib:/usr/local/lib]
     0x000000000000000c (INIT)               0xd0bd0
     0x000000000000000d (FINI)               0x129494
     0x0000000000000019 (INIT_ARRAY)         0x35f580
     0x000000000000001b (INIT_ARRAYSZ)       56 (bytes)
     0x000000000000001a (FINI_ARRAY)         0x35f5b8
     0x000000000000001c (FINI_ARRAYSZ)       8 (bytes)
     0x000000006ffffef5 (GNU_HASH)           0x1f0
     0x0000000000000005 (STRTAB)             0x2be68
     0x0000000000000006 (SYMTAB)             0xa7d8
     0x000000000000000a (STRSZ)              545696 (bytes)
     0x000000000000000b (SYMENT)             24 (bytes)
     0x0000000000000003 (PLTGOT)             0x362000
     0x0000000000000002 (PLTRELSZ)           90336 (bytes)
     0x0000000000000014 (PLTREL)             RELA
     0x0000000000000017 (JMPREL)             0xbaaf0
     0x0000000000000007 (RELA)               0xb4058
     0x0000000000000008 (RELASZ)             27288 (bytes)
     0x0000000000000009 (RELAENT)            24 (bytes)
     0x000000006ffffffe (VERNEED)            0xb3e98
     0x000000006fffffff (VERNEEDNUM)         6
     0x000000006ffffff0 (VERSYM)             0xb1208
     0x000000006ffffff9 (RELACOUNT)          9
     0x0000000000000000 (NULL)               0x0

这是我的：CMakeList.txt

cmake_minimum_required(VERSION 3.10)
project(my_realtime_vdo_slam)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  flow_net
  geometry_msgs
  image_transport
  mask_rcnn
  message_generation
  midas_ros
  mono_depth_2
  nav_msgs
  python_service_starter
  roscpp
  sensor_msgs
  std_msgs
  tf
  tf2
  tf2_geometry_msgs
  tf2_ros
  tf2_sensor_msgs
  vision_msgs
  visualization_msgs
  nodelet
  message_filters
)

find_package(OpenCV)
find_package(vdo_slam REQUIRED)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   VdoSlamScene.msg
   VdoSlamMap.msg
   VdoSceneObject.msg
   VdoInput.msg
)

generate_messages(
  DEPENDENCIES 
    actionlib_msgs 
    geometry_msgs 
    std_msgs 
    sensor_msgs 
    mask_rcnn 
    vision_msgs
)


set(PROJECT_INCLUDE_DIRS
  include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${vdo_slam_INCLUDE_DIRS}
  )

include_directories(
  ${PROJECT_INCLUDE_DIRS}
)  


catkin_package(
  INCLUDE_DIRS ${PROJECT_INCLUDE_DIRS}
  LIBRARIES ${PROJECT_NAME} 
  CATKIN_DEPENDS 
    roscpp
    image_transport 
    python_service_starter 
    std_msgs 
    tf 
    tf2 
    tf2_geometry_msgs 
    tf2_ros 
    tf2_sensor_msgs 
    nav_msgs 
    sensor_msgs 
    geometry_msgs 
    cv_bridge 
    flow_net 
    mask_rcnn 
    mono_depth_2 
    midas_ros 
    message_runtime 
    nodelet
    message_filters
  # DEPENDS system_lib
)

add_library(${PROJECT_NAME} SHARED 
  src/RosVdoSlam.cpp
  src/utils/RosUtils.cpp
  src/visualizer/RosVisualizer.cpp
  src/visualizer/RosAsyncManager.cpp
  src/tracking/HungarianSolver.cpp
  src/tracking/SemanticTracker.cpp
)
target_link_libraries(${PROJECT_NAME} PUBLIC
        ${catkin_LIBRARIES}
        ${OpenCV_LIBS}
        ${vdo_slam_LIBRARIES}
)
#if(catkin_EXPORTED_LIBRARIES)
#  add_dependencies(${PROJECT_NAME}
#         ${catkin_EXPORTED_LIBRARIES}
#         ${catkin_LIBRARIES}
#         ${OpenCV_LIBS}
 #     ${vdo_slam_LIB_DIRS})
# endif()

# target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
#     ${catkin_INCLUDE_DIRS}
#     ${OpenCV_INCLUDE_DIRS}
#     ${vdo_slam_INCLUDE_DIRS}
#     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
#     $<INSTALL_INTERFACE:include>
# )


add_executable(ros_vdoslam_node 
  src/ros_vdoslam_node.cpp
)

target_link_libraries(ros_vdoslam_node 
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
  ${vdo_slam_LIB_DIRS}
  ${PROJECT_NAME}
  )

if(catkin_EXPORTED_LIBRARIES)
  add_dependencies(ros_vdoslam_node
          ${catkin_EXPORTED_LIBRARIES}
          ${catkin_LIBRARIES}
          ${OpenCV_LIBS}
      ${vdo_slam_LIBRARIES})
endif()

makefile cmake 共享库 undefined-reference

1赞 Alex Cohn 4/28/2021

如果您已经构建并安装了带有标头的“vdo_slam”，那么我希望在某处看到 libObjSLAM.so。/usr/local/include/vdo_slam

0赞 Tranks Naing 5/2/2021

@AlexCohn我可以在 /usr/local/lib/ 中看到 libvdo_slam.so。由于我也在 CMakelist 中find_packaged并链接了它.txt，因此我希望在运行时在共享库列表中看到 libvdo_slam.so，但它不存在。所以我在CMakeList.txt中运行了一个简短的if语句来检查标志，如果找到，则打印一些消息。它输出找到的消息。$ readelf <mylibrary.so_file>if(vdo_slam_FOUND)

0赞 Alex Cohn 5/3/2021

为什么你的包括，而不是？target_link_libraries${vdo_slam_LIB_DIRS}${vdo_slam_LIBS}

答：

1赞 Tranks Naing 5/2/2021 #1

尤里卡！我找到了一个解决方案，尽管这不是一个理想的解决方案。如问题中所述，我注意到在运行时未将其列为共享库。所以我手动添加了 CMakeList.txt，所以它看起来像：libvdo_slam.so$ readelf <on_my_library.so>-lvdo_slam

target_link_libraries(ros_vdoslam_node  
  ${catkin_LIBRARIES}  
  ${OpenCV_LIBS}    
  ${PROJECT_NAME}  
  -lvdo_slam  
  )  `

此外，由于“vdo_slam”也使用修改后的“g2o”库，因此必须在VDO_SLAM库的 CMakeList.txt（在类似的地方添加）中执行相同的过程。-lvdo_slam_g2o

虽然它现在成功构建，但我仍然想知道为什么会这样。根据我的理解，和一样，后者使用后应该有效-lvdo_slam${vdo_slam_LIBS}find_package(vdo_slam REQUIRED)

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我该如何解决这个问题“......SO：未定义对“...” 的引用

How do i solve this"... .so: undefined reference to '..."

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