VINS bug 调试 : undefined reference to `cv::FileStorage::FileStorage(std::__cxx11::basic_string<char, std::char_traits<char>,
CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:46: undefined reference to `cv::FileStorage::FileStorage(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /usr/include/opencv4/opencv2/core/persistence.hpp:1264: undefined reference to `cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:54: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:55: undefined reference to `cv::FileNode::operator int() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:56: undefined reference to `cv::FileNode::operator double() const' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /usr/include/opencv4/opencv2/core/persistence.hpp:1264: undefined reference to `cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:70: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:71: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:72: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:73: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:74: undefined reference to `cv::FileNode::operator double() const' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o:/home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:75: more undefined references to `cv::FileNode::operator double() const' follow CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:79: undefined reference to `cv::FileNode::operator int() const' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' CMakeFiles/vins_estimator.dir/src/parameters.cpp.o: In function `readParameters(ros::NodeHandle&)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:118: undefined reference to `cv::FileNode::operator double() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:119: undefined reference to `cv::FileNode::operator int() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:125: undefined reference to `cv::FileNode::operator int() const' /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/parameters.cpp:128: undefined reference to `cv::FileNode::operator double() const' CMakeFiles/vins_estimator.dir/src/estimator.cpp.o: In function `cv::Mat::Mat(int, int, int, void*, unsigned long) [clone .constprop.4076]': /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' /usr/include/opencv4/opencv2/core/mat.inl.hpp:561: undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)' /usr/include/opencv4/opencv2/core/mat.inl.hpp:548: undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)' CMakeFiles/vins_estimator.dir/src/estimator.cpp.o: In function `void cv::cv2eigen<double>(cv::Mat const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&) [clone .constprop.3981]': /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' /usr/include/opencv4/opencv2/core/mat.inl.hpp:548: undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)' CMakeFiles/vins_estimator.dir/src/estimator.cpp.o: In function `Estimator::initialStructure()': /usr/include/opencv4/opencv2/core/mat.inl.hpp:1711: undefined reference to `cv::error(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char const*, char const*, int)' CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o: In function `printStatistics(Estimator const&, double)': /home/isee324/catkin_ws/src/VINS-Mono-master/vins_estimator/src/utility/visualization.cpp:79: undefined reference to `cv::FileStorage::FileStorage(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o: In function `printStatistics(Estimator const&, double)': /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' /usr/include/opencv4/opencv2/core/mat.inl.hpp:568: undefined reference to `cv::Mat::updateContinuityFlag()' CMakeFiles/vins_estimator.dir/src/utility/visualization.cpp.o: In function `printStatistics(Estimator const&, double)': /usr/include/opencv4/opencv2/core/persistence.hpp:1219: undefined reference to `cv::operator<<(cv::FileStorage&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /usr/include/opencv4/opencv2/core/persistence.hpp:1208: undefined reference to `cv::write(cv::FileStorage&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::Mat const&)' /usr/include/opencv4/opencv2/core/persistence.hpp:1219: undefined reference to `cv::operator<<(cv::FileStorage&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /usr/include/opencv4/opencv2/core/persistence.hpp:1208: undefined reference to `cv::write(cv::FileStorage&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::Mat const&)'
在VINS 的catkin_make 过程中，出现了以上的undefined问题，网上是了很多办法都不行，最后看到一个关于opencv路径的问题，这里的路径是：
/usr/include/opencv4/opencv2
很是奇怪，所以更改了cv_bridgeConfig.cmake里面的include 语句。
需要用到下面的命令行：
pkg-config --cflags opencv（查看系统的opencv路径在那里）
我的路径显示的是 -I/usr/local/include/opencv -I/usr/local/include
在cv_bridgeConfig.cmake里将原来的路径改为以后两个路经。
原本是这个路经 set(_include_dirs "include;/usr/local/include;/usr/local/include/opencv4") 改完后 是： set(_include_dirs "include;/usr/local/include;/usr/local/include/opencv")
然后，catkin_make ,
done : ) !
