Sophus链接错误

错误指示如下：

CMakeFiles/run_vo.dir/run_vo.cpp.o: In function `main':
run_vo.cpp:(.text.startup+0x1086): undefined reference to `Sophus::SE3::inverse() const'
run_vo.cpp:(.text.startup+0x10c9): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0x10ec): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0x110f): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0x1132): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0x1155): undefined reference to `Sophus::SO3::matrix() const'
CMakeFiles/run_vo.dir/run_vo.cpp.o:run_vo.cpp:(.text.startup+0x1178): more undefined references to `Sophus::SO3::matrix() const' follow
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SO3 const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator=(Sophus::SE3 const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3()'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SO3::SO3(double, double, double)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::log() const'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Sophus::SE3 const&) const'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
collect2: error: ld returned 1 exit status
test/CMakeFiles/run_vo.dir/build.make:143: recipe for target '../bin/run_vo' failed
make[2]: *** [../bin/run_vo] Error 1
CMakeFiles/Makefile2:140: recipe for target 'test/CMakeFiles/run_vo.dir/all' failed
make[1]: *** [test/CMakeFiles/run_vo.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

CMakeLists.txt中的Sophus

# Sophus
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )

原因分析：
安装Sophus时，有个lib文件“libSophus.so”会出现在/usr/local/lib/libSophus.so 时，libSophus.so 应该被链接到 Sophus_LIBRARIES， cmake没链接上。

应该更改为

# Sophus
find_package( Sophus REQUIRED )
set(Sophus_LIBRARIES libSophus.so)
include_directories( ${Sophus_INCLUDE_DIRS} )

即显示链接Sophus_LIBRARIES 链接到libSophus.so

 

 

 

 

 

 

 

 

# Sophus
find_package( Sophus REQUIRED )
set(Sophus_LIBRARIES libSophus.so)
include_directories( ${Sophus_INCLUDE_DIRS} )