slam稠密建图未定义g2o

。

g2o安装了，换了好几个版本其中包含slambook2里面的老版本都试过一直出现这个错误，请教一下是什么原因？

/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::SparseOptimizer::removeVertex(g2o::HyperGraph::Vertex*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::SparseOptimizer::removeVertex(g2o::HyperGraph::Vertex*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::SparseOptimizer::removeVertex(g2o::HyperGraph::Vertex*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::SparseOptimizer::removeVertex(g2o::HyperGraph::Vertex*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::SparseOptimizer::removeVertex(g2o::HyperGraph::Vertex*)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to `g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)'
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rgbd_tum.dir/build.make:215：../Examples/RGB-D/rgbd_tum] 错误 1
make[2]: *** [CMakeFiles/mono_tum.dir/build.make:215：../Examples/Monocular/mono_tum] 错误 1
make[2]: *** [CMakeFiles/stereo_kitti.dir/build.make:215：../Examples/Stereo/stereo_kitti] 错误 1
make[1]: *** [CMakeFiles/Makefile2:197：CMakeFiles/rgbd_tum.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/mono_kitti.dir/build.make:215：../Examples/Monocular/mono_kitti] 错误 1
make[1]: *** [CMakeFiles/Makefile2:93：CMakeFiles/mono_tum.dir/all] 错误 2
make[2]: *** [CMakeFiles/rgbd_my.dir/build.make:215：../Examples/RGB-D/rgbd_my] 错误 1
make[1]: *** [CMakeFiles/Makefile2:171：CMakeFiles/stereo_kitti.dir/all] 错误 2
make[1]: *** [CMakeFiles/Makefile2:119：CMakeFiles/mono_kitti.dir/all] 错误 2
make[1]: *** [CMakeFiles/Makefile2:145：CMakeFiles/rgbd_my.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

小鱼

@1264821100 看起来像版本和匹配问题，可以使用

ldd xxx.so

查看库的链接情况