YAML编译报错
Posted gwpscut
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将cmakelist改为
cmake_minimum_required(VERSION 2.8.3)
project(esvo_core)
# explicitly set std=c++14 to remove errors from pcl library
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
set(CMAKE_CXX_FLAGS "-O3")
find_package(catkin_simple REQUIRED)
catkin_simple(ALL_DEPS_REQUIRED)
find_package(OpenCV REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(PkgConfig REQUIRED)
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
include_directories(/usr/local/include/yaml-cpp)
link_directories(/usr/local/lib)
############
## Stereo ##
############
set(HEADERS
include/esvo_core/core/DepthFusion.h
include/esvo_core/core/DepthRegularization.h
include/esvo_core/core/DepthProblem.h
include/esvo_core/core/DepthProblemSolver.h
include/esvo_core/core/EventBM.h
include/esvo_core/core/EventMatcher.h
include/esvo_core/core/RegProblemLM.h
include/esvo_core/core/RegProblemSolverLM.h
include/esvo_core/optimization/OptimizationFunctor.h
include/esvo_core/container/CameraSystem.h
include/esvo_core/container/DepthPoint.h
include/esvo_core/container/EventMatchPair.h
include/esvo_core/container/SmartGrid.h
include/esvo_core/container/DepthMap.h
include/esvo_core/container/ResidualItem.h
include/esvo_core/container/TimeSurfaceObservation.h
include/esvo_core/tools/Visualization.h
include/esvo_core/tools/utils.h
include/esvo_core/tools/TicToc.h
include/esvo_core/tools/sobel.h
include/esvo_core/tools/cayley.h
include/esvo_core/tools/params_helper.h)
set(SOURCES
src/core/DepthFusion.cpp
src/core/DepthRegularization.cpp
src/core/DepthProblem.cpp
src/core/DepthProblemSolver.cpp
src/core/EventBM.cpp
src/core/EventMatcher.cpp
src/core/RegProblemLM.cpp
src/core/RegProblemSolverLM.cpp
src/container/CameraSystem.cpp
src/container/DepthPoint.cpp
src/container/ResidualItem.cpp
src/tools/Visualization.cpp
src/tools/sobel.cpp
src/tools/cayley.cpp)
cs_add_library(${PROJECT_NAME}_LIB ${SOURCES} ${HEADERS})
# Node esvo_Mapping
cs_add_executable(esvo_Mapping src/esvo_MappingNode.cpp
src/esvo_Mapping.cpp include/esvo_core/esvo_Mapping.h)
target_link_libraries(esvo_Mapping ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
# Node esvo_Tracking
cs_add_executable(esvo_Tracking src/esvo_TrackingNode.cpp
src/esvo_Tracking.cpp include/esvo_core/esvo_Tracking.h)
target_link_libraries(esvo_Tracking ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
# Node esvo_MVS (newly added in branch "mvs")
cs_add_executable(esvo_MVStereo src/esvo_MVStereoNode.cpp
src/esvo_MVStereo.cpp include/esvo_core/esvo_MVStereo.h)
target_link_libraries(esvo_MVStereo ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
############################################
#option(DEFINE_USE_INVERSE_DEPTH "Use linear spacing in inverse depth (if OFF, will use linear spacing in depth)" ON)
#if(DEFINE_USE_INVERSE_DEPTH)
# add_definitions(-DUSE_INVERSE_DEPTH)
#endif(DEFINE_USE_INVERSE_DEPTH)
cs_add_library(emvs_lib src/emvs_core/MapperEMVS.cpp src/emvs_core/MedianFilter.cpp)
########### Mapping experiments
cs_add_executable(esvo_MonoMapping src/esvo_MonoMappingNode.cpp
src/esvo_MonoMapping.cpp include/esvo_core/esvo_MonoMapping.h)
target_link_libraries(esvo_MonoMapping ${PROJECT_NAME}_LIB emvs_lib
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
# Node esvo_MVSMono (newly added in branch "mvs")
cs_add_executable(esvo_MVSMono src/esvo_MVSMonoNode.cpp
src/esvo_MVSMono.cpp include/esvo_core/esvo_MVSMono.h)
target_link_libraries(esvo_MVSMono ${PROJECT_NAME}_LIB emvs_lib
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
########### Tracking with Multiple representations
cs_add_executable(Tracking src/TrackingNode.cpp
src/Tracking.cpp include/esvo_core/Tracking.h)
target_link_libraries(Tracking ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp libyaml-cpp.so)
#####################
### Tool programs ###
#####################
cs_add_executable(saveMap src/tools/saveMap.cpp)
target_link_libraries(saveMap ${catkin_LIBARIES})
cs_add_executable(publishMap src/tools/publishMap.cpp)
target_link_libraries(publishMap ${catkin_LIBARIES})
但是运行报错，最终这样才不报错。。。
cmake_minimum_required(VERSION 2.8.3)
project(esvo_core)
# explicitly set std=c++14 to remove errors from pcl library
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
set(CMAKE_CXX_FLAGS "-O3")
find_package(catkin_simple REQUIRED)
catkin_simple(ALL_DEPS_REQUIRED)
find_package(OpenCV REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(PkgConfig REQUIRED)
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
find_package(PkgConfig)
pkg_check_modules(NEW_YAMLCPP yaml-cpp>=0.5)
if(NEW_YAMLCPP_FOUND)
add_definitions(-DHAVE_NEW_YAMLCPP)
endif(NEW_YAMLCPP_FOUND)
############
## Stereo ##
############
set(HEADERS
include/esvo_core/core/DepthFusion.h
include/esvo_core/core/DepthRegularization.h
include/esvo_core/core/DepthProblem.h
include/esvo_core/core/DepthProblemSolver.h
include/esvo_core/core/EventBM.h
include/esvo_core/core/EventMatcher.h
include/esvo_core/core/RegProblemLM.h
include/esvo_core/core/RegProblemSolverLM.h
include/esvo_core/optimization/OptimizationFunctor.h
include/esvo_core/container/CameraSystem.h
include/esvo_core/container/DepthPoint.h
include/esvo_core/container/EventMatchPair.h
include/esvo_core/container/SmartGrid.h
include/esvo_core/container/DepthMap.h
include/esvo_core/container/ResidualItem.h
include/esvo_core/container/TimeSurfaceObservation.h
include/esvo_core/tools/Visualization.h
include/esvo_core/tools/utils.h
include/esvo_core/tools/TicToc.h
include/esvo_core/tools/sobel.h
include/esvo_core/tools/cayley.h
include/esvo_core/tools/params_helper.h)
set(SOURCES
src/core/DepthFusion.cpp
src/core/DepthRegularization.cpp
src/core/DepthProblem.cpp
src/core/DepthProblemSolver.cpp
src/core/EventBM.cpp
src/core/EventMatcher.cpp
src/core/RegProblemLM.cpp
src/core/RegProblemSolverLM.cpp
src/container/CameraSystem.cpp
src/container/DepthPoint.cpp
src/container/ResidualItem.cpp
src/tools/Visualization.cpp
src/tools/sobel.cpp
src/tools/cayley.cpp)
cs_add_library(${PROJECT_NAME}_LIB ${SOURCES} ${HEADERS})
# Node esvo_Mapping
cs_add_executable(esvo_Mapping src/esvo_MappingNode.cpp
src/esvo_Mapping.cpp include/esvo_core/esvo_Mapping.h)
target_link_libraries(esvo_Mapping ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
# Node esvo_Tracking
cs_add_executable(esvo_Tracking src/esvo_TrackingNode.cpp
src/esvo_Tracking.cpp include/esvo_core/esvo_Tracking.h)
target_link_libraries(esvo_Tracking ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
# Node esvo_MVS (newly added in branch "mvs")
cs_add_executable(esvo_MVStereo src/esvo_MVStereoNode.cpp
src/esvo_MVStereo.cpp include/esvo_core/esvo_MVStereo.h)
target_link_libraries(esvo_MVStereo ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
############################################
#option(DEFINE_USE_INVERSE_DEPTH "Use linear spacing in inverse depth (if OFF, will use linear spacing in depth)" ON)
#if(DEFINE_USE_INVERSE_DEPTH)
# add_definitions(-DUSE_INVERSE_DEPTH)
#endif(DEFINE_USE_INVERSE_DEPTH)
cs_add_library(emvs_lib src/emvs_core/MapperEMVS.cpp src/emvs_core/MedianFilter.cpp)
########### Mapping experiments
cs_add_executable(esvo_MonoMapping src/esvo_MonoMappingNode.cpp
src/esvo_MonoMapping.cpp include/esvo_core/esvo_MonoMapping.h)
target_link_libraries(esvo_MonoMapping ${PROJECT_NAME}_LIB emvs_lib
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
# Node esvo_MVSMono (newly added in branch "mvs")
cs_add_executable(esvo_MVSMono src/esvo_MVSMonoNode.cpp
src/esvo_MVSMono.cpp include/esvo_core/esvo_MVSMono.h)
target_link_libraries(esvo_MVSMono ${PROJECT_NAME}_LIB emvs_lib
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
########### Tracking with Multiple representations
cs_add_executable(Tracking src/TrackingNode.cpp
src/Tracking.cpp include/esvo_core/Tracking.h)
target_link_libraries(Tracking ${PROJECT_NAME}_LIB
${catkin_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
#####################
### Tool programs ###
#####################
cs_add_executable(saveMap src/tools/saveMap.cpp)
target_link_libraries(saveMap ${catkin_LIBARIES})
cs_add_executable(publishMap src/tools/publishMap.cpp)
target_link_libraries(publishMap ${catkin_LIBARIES})
参考资料：
CMake：yaml-cpp使用连接库_Kernel_Programming的博客-CSDN博客
对YAML :: LoadFile的未定义引用 - 问答 - 云+社区 - 腾讯云
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