Question

我正在尝试使LSD_SLAM工作，但是以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sudo ln -s /usr/local/lib/libg2o_solver_csparse.so /usr/bin/lcsparse.so进行软链接，但这不能解决问题。

这是完整的错误消息：

    [ 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

说实话，我不知道我应该尝试其他方法，因为在apt中也没有所谓的lcsparse。此外，我还在其他两台计算机上进行了尝试，但由于此错误仍然卡住。

以下是我已安装的一些信息，可能对我有所帮助：

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（必须使用此旧版本来修复另一个错误）

编辑1：

这也是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：

或多或少地修复了错误消息的问题... 我将此添加到了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csparse中的cxsparse和target_linked_libraries替换为${CSPARSE_INCLUDE_DIR}。现在，我在***处遇到未定义的引用看到这里：

/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，我自己修复了。这是我所做的步骤。首先，我进行了EDIT 2中介绍的步骤。之后，我得到了一些undefined reference的东西，这些东西是通过首先安装libsuitesparse-dev然后编译g2o
来修复的它对我有用，所以我希望对您也有用。

Answer 2

我本来可以发表评论，但由于回复率太低而不能。

对我来说，将${CSPARSE_INCLUDE_DIR}添加到target_link_libraries就足够了。因此，我的CMakeLists.txt中的行如下所示：

target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} ${CSPARSE_INCLUDE_DIR} cxsparse X11)

Answer 3

（评论不足）

在过去的两个晚上，我也正为此而苦苦挣扎。我发现出于某些原因，'libsuitesparse-dev'软件包的18.04 / bionic版本将普通的csparse文件遗漏了。现在只有一个“ libcxsparse3”。 https://packages.ubuntu.com/bionic/libsuitesparse-dev

如果您返回的是ubuntu版本，您会发现它曾经具有“普通” csparse文件。 https://packages.ubuntu.com/xenial/libsuitesparse-dev

更新：我提交了Ubuntu错误报告，但得到的答复是libcsparse已被libcxsparse取代。

”“谢谢您的错误报告，这是需要的更改，而不是错误，据 https://salsa.debian.org/science-team/suitesparse/-/commit/3b00ddd5 '+ CSparse（libcsparse）的Drop包，由libcxsparse取代。，您尝试过使用它吗？”

**更改于：suitesparse（Ubuntu）状态：新建=>无效

catkin_make»/ usr / bin / ld：找不到-lcsparse

编辑1：

编辑2：

3 个答案: