解决error: undefined reference to g2o::OptimizableGraph::addVertex问题**

error: undefined reference to `g2o::OptimizableGraph::addVertex(g2o::OptimizableGraph::Vertex*, g2o::HyperGraph::Data*)’

error: undefined reference to `g2o::OptimizableGraph::addEdge(g2o::OptimizableGraph::Edge*)’

后来发现ros里面也有g2o的库，然后默认调用了ros里面的g2o。
解决方法：
修改FindG2O.cmake文件
原来的FindG2O.cmake文件为

FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h${G2O_ROOT}/include$ENV{G2O_ROOT}/include$ENV{G2O_ROOT}/usr/local/include/usr/include/opt/local/include/sw/local/include/sw/includeNO_DEFAULT_PATH)# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS${G2O_ROOT}/lib/Debug${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Debug$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/lib)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS${G2O_ROOT}/lib/Release${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Release$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/lib)IF(NOT ${MYLIBRARY}_DEBUG)IF(MYLIBRARY)SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})ENDIF(MYLIBRARY)ENDIF( NOT ${MYLIBRARY}_DEBUG)ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)# Find the core elements
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)# Find the CLI library
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)# Find the pluggable solvers
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)# Find the predefined types
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)# G2O solvers declared found if we found at least one solver
SET(G2O_SOLVERS_FOUND "NO")
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)SET(G2O_SOLVERS_FOUND "YES")
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

修改为

FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h${G2O_ROOT}/include$ENV{G2O_ROOT}/include$ENV{G2O_ROOT}/usr/local/include/usr/include/opt/local/include/sw/local/include/sw/includeNO_DEFAULT_PATH)# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS${G2O_ROOT}/lib/Debug${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Debug$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY("${MYLIBRARY}_DEBUG"NAMES "g2o_${MYLIBRARYNAME}_d"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/libNO_DEFAULT_PATH)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS${G2O_ROOT}/lib/Release${G2O_ROOT}/lib$ENV{G2O_ROOT}/lib/Release$ENV{G2O_ROOT}/libNO_DEFAULT_PATH)FIND_LIBRARY(${MYLIBRARY}NAMES "g2o_${MYLIBRARYNAME}"PATHS~/Library/Frameworks/Library/Frameworks/usr/local/lib/usr/local/lib64/usr/lib/usr/lib64/opt/local/lib/sw/local/lib/sw/libNO_DEFAULT_PATH)IF(NOT ${MYLIBRARY}_DEBUG)IF(MYLIBRARY)SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})ENDIF(MYLIBRARY)ENDIF( NOT ${MYLIBRARY}_DEBUG)ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)# Find the core elements
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)# Find the CLI library
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)# Find the pluggable solvers
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)# Find the predefined types
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)# G2O solvers declared found if we found at least one solver
SET(G2O_SOLVERS_FOUND "NO")
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)SET(G2O_SOLVERS_FOUND "YES")
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

本质就是去掉默认目录，即FIND_LIBRARY只能在指定目录找库。

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解决error: undefined reference to g2o::OptimizableGraph::addVertex问题

解决error: undefined reference to g2o::OptimizableGraph::addVertex问题**

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