编译错误

[Shidabot]

/usr/bin/ld: CMakeFiles/place_recognition_kitti.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&)': STDesc.cpp:(.text+0x1064a): undefined reference to vtable for ceres::EigenQuaternionManifold'
/usr/bin/ld: STDesc.cpp:(.text+0x1090a): undefined reference to ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)' /usr/bin/ld: STDesc.cpp:(.text+0x117d0): undefined reference to ceres::CostFunction::CostFunction()'
/usr/bin/ld: STDesc.cpp:(.text+0x11870): undefined reference to ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double* const*, int)' /usr/bin/ld: CMakeFiles/place_recognition_kitti.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()':
STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED2Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3c): undefined reference to ceres::CostFunction::~CostFunction()' /usr/bin/ld: CMakeFiles/place_recognition_kitti.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()':
STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED0Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3b): undefined reference to ceres::CostFunction::~CostFunction()' /usr/bin/ld: CMakeFiles/place_recognition_kitti.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&) [clone .cold]':
STDesc.cpp:(.text.unlikely+0xa72): undefined reference to ceres::CostFunction::~CostFunction()' collect2: error: ld returned 1 exit status make[2]: *** [STD/CMakeFiles/place_recognition_kitti.dir/build.make:428：/home/skzn_2023/b3/std/devel/lib/std_detector/place_recognition_kitti] 错误 1 make[1]: *** [CMakeFiles/Makefile2:2501：STD/CMakeFiles/place_recognition_kitti.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... /usr/bin/ld: CMakeFiles/place_recognition_livox.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&)':
STDesc.cpp:(.text+0x1064a): undefined reference to vtable for ceres::EigenQuaternionManifold' /usr/bin/ld: STDesc.cpp:(.text+0x1090a): undefined reference to ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)'
/usr/bin/ld: STDesc.cpp:(.text+0x117d0): undefined reference to ceres::CostFunction::CostFunction()' /usr/bin/ld: STDesc.cpp:(.text+0x11870): undefined reference to ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double* const*, int)'
/usr/bin/ld: CMakeFiles/place_recognition_livox.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()': STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED2Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3c): undefined reference to ceres::CostFunction::~CostFunction()'
/usr/bin/ld: CMakeFiles/place_recognition_livox.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()': STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED0Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3b): undefined reference to ceres::CostFunction::~CostFunction()'
/usr/bin/ld: CMakeFiles/place_recognition_livox.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&) [clone .cold]': STDesc.cpp:(.text.unlikely+0xa72): undefined reference to ceres::CostFunction::~CostFunction()'
collect2: error: ld returned 1 exit status
make[2]: *** [STD/CMakeFiles/place_recognition_livox.dir/build.make:428：/home/skzn_2023/b3/std/devel/lib/std_detector/place_recognition_livox] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2527：STD/CMakeFiles/place_recognition_livox.dir/all] 错误 2
/usr/bin/ld: CMakeFiles/pgo_demo.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&)': STDesc.cpp:(.text+0x1064a): undefined reference to vtable for ceres::EigenQuaternionManifold'
/usr/bin/ld: STDesc.cpp:(.text+0x1090a): undefined reference to ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)' /usr/bin/ld: STDesc.cpp:(.text+0x117d0): undefined reference to ceres::CostFunction::CostFunction()'
/usr/bin/ld: STDesc.cpp:(.text+0x11870): undefined reference to ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double* const*, int)' /usr/bin/ld: CMakeFiles/pgo_demo.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()':
STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED2Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3c): undefined reference to ceres::CostFunction::~CostFunction()' /usr/bin/ld: CMakeFiles/pgo_demo.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()':
STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED0Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3b): undefined reference to ceres::CostFunction::~CostFunction()' /usr/bin/ld: CMakeFiles/pgo_demo.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&) [clone .cold]':
STDesc.cpp:(.text.unlikely+0xa72): undefined reference to ceres::CostFunction::~CostFunction()' collect2: error: ld returned 1 exit status make[2]: *** [STD/CMakeFiles/pgo_demo.dir/build.make:439：/home/skzn_2023/b3/std/devel/lib/std_detector/pgo_demo] 错误 1 make[1]: *** [CMakeFiles/Makefile2:2553：STD/CMakeFiles/pgo_demo.dir/all] 错误 2 /usr/bin/ld: CMakeFiles/online_demo.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZINormal > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&)':
STDesc.cpp:(.text+0x1064a): undefined reference to vtable for ceres::EigenQuaternionManifold' /usr/bin/ld: STDesc.cpp:(.text+0x1090a): undefined reference to ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)'
/usr/bin/ld: STDesc.cpp:(.text+0x117d0): undefined reference to ceres::CostFunction::CostFunction()' /usr/bin/ld: STDesc.cpp:(.text+0x11870): undefined reference to ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double* const*, int)'
/usr/bin/ld: CMakeFiles/online_demo.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()': STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED2Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3c): undefined reference to ceres::CostFunction::~CostFunction()'
/usr/bin/ld: CMakeFiles/online_demo.dir/src/STDesc.cpp.o: in function ceres::AutoDiffCostFunction<PlaneSolver, 1, 4, 3>::~AutoDiffCostFunction()': STDesc.cpp:(.text._ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED0Ev[_ZN5ceres20AutoDiffCostFunctionI11PlaneSolverLi1EJLi4ELi3EEED5Ev]+0x3b): undefined reference to ceres::CostFunction::~CostFunction()'
/usr/bin/ld: CMakeFiles/online_demo.dir/src/STDesc.cpp.o: in function STDescManager::PlaneGeomrtricIcp(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZINormal> > const&, std::pair<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 3, 0, 3, 3> >&) [clone .cold]': STDesc.cpp:(.text.unlikely+0xa72): undefined reference to ceres::CostFunction::~CostFunction()'
collect2: error: ld returned 1 exit status
make[2]: *** [STD/CMakeFiles/online_demo.dir/build.make:439：/home/skzn_2023/b3/std/devel/lib/std_detector/online_demo] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2579：STD/CMakeFiles/online_demo.dir/all] 错误 2
make: *** [Makefile:146：all] 错误 2
Invoking "make -j16 -l16" failed