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SLAM14讲 ch6 g2o曲线拟合程序问题-G2OConfig.cmake

2023-05-16

SLAM14讲 ch6 g2o曲线拟合程序问题-G2OConfig.cmake

Could not find a package configuration file provided by "G2O" with any of   the following names:  

G2OConfig.cmake    

g2o-config.cmake

这一讲包含了一个用g2o库进行曲线拟合的实例，但是在按照书中实际步骤实际运行发现了几个问题。

亦或者出现这么一个尴尬的场面：利用高博的代码编译可以通过，自己新建的工程，复制高博的代码，build后出现问题。

在使用cmake编译中，出现了以下报错：

1  By not providing "FindG2O.cmake" in CMAKE_MODULE_PATH this project has
2   asked CMake to find a package configuration file provided by "G2O", but
3   CMake did not find one.
4 
5   Could not find a package configuration file provided by "G2O" with any of
6   the following names:
7 
8     G2OConfig.cmake
9     g2o-config.cmake
10 
11   Add the installation prefix of "G2O" to CMAKE_PREFIX_PATH or set "G2O_DIR"
12   to a directory containing one of the above files.  If "G2O" provides a
13   separate development package or SDK, be sure it has been installed.

 编译出错的原因指向CMakeLists.txt中，没找到cmake的配置文件：

G2OConfig.cmake    

g2o-config.cmake

也没有：

FindG2O.cmake

打开安装g2o的文件夹发现，安装在/usr/local/include/g2o下的G2O库里面并没有上述两个文件。那这两个文件来源于哪里呢？

这要从安装g2o库开始说起，按照如下办法应该能解决上述问题：

1）g2o库的的依赖项安装

书中所写命令如下：

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3 libcholmod-dev

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3 libcholmod-dev
但是最后一项（libcholmod-dev）会提示不能安装，此时应该用tab键进行补全完成安装

2）下载g2o库文件

打开www.github.com后，输入g2o，检索到第一个就是咱们需要的库文件。

或者直接打开这个链接：https://github.com/RainerKuemmerle/g2o

打开终端，下载库文件：

cd /home/whu/Tools/DependentLibrary
git clone https://github.com/RainerKuemmerle/g2o.git

下载完成，至于中间速度很龟速的问题，大家再找找对应的解决办法！

3)安装g2o库

cd g2o
mkdir build
cd build
cmake ..
make -j4
sudo make install

安装完成后，根据安装过程中的终端信息显示，g2o库被安装在/usr/local/include/g2o

进入该目录后发现，确实没有上述问题中的配置文件，在从GitHub下载的库文件（安装包）中搜索：

       G2OConfig.cmake

发现该文件位于/home/whu/Tools/DependentLibrary/g2o/build/generated下面。

同时搜索：

FindG2O.cmake

发现该文件位于/home/whu/Tools/DependentLibrary/g2o/cmake_modules下面。

这个就很诡异了，按理说安装完成，对应的链接关系都配置好了的，这。。。

虽然定义了CMAKE_MODULE_PATH，但没有对应的文件和文件夹，也就是没有找到FindG2O.cmake文件

4)解决办法

网上解决办法：找到findg2o.cmake文件的位置，一般在g2o安装包中的"cmake_modules"文件夹中，将整个文件夹复制到相应工程的下面，与build文件夹在同一目录，然后编译可以正常通过。

归根结底，这个问题出在CMakeLists.txt内，没有找到对应的库文件导致的错误。

高博在GitHub中给出的代码如下: 

1 cmake_minimum_required( VERSION 2.8 )
2 project( g2o_curve_fitting )
3 
4 set( CMAKE_BUILD_TYPE "Release" )
5 set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
6 
7 # 添加cmake模块以使用ceres库
8 list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
9 
10 # 寻找G2O
11 find_package( G2O REQUIRED )
12 include_directories( 
13     ${G2O_INCLUDE_DIRS}
14     "/usr/include/eigen3"
15 )
16 
17 # OpenCV
18 find_package( OpenCV REQUIRED )
19 include_directories( ${OpenCV_DIRS} )
20 
21 add_executable( g2oCurveFitting g2oCurveFitting.cpp )
22 # 与G2O和OpenCV链接
23 target_link_libraries( g2oCurveFitting 
24     ${OpenCV_LIBS}
25     g2o_core g2o_stuff
26 )

很遗憾，出错！！！

5)我的解决办法：

进入库文件（安装包）内，打包两个文件：build和cmake_modules

cd /home/whu/Tools/DependentLibrary/g2o
tar -czvf build.tar.gz build/
tar -czvf cmake_modules.tar.gz cmake_modules/

移动至安装目录/usr/local/include/g2o下

重新打开一个终端

sudo cp /home/whu/Tools/DependentLibrary/g2o/build.tar.gz /usr/local/include/g2o/
sudo cp /home/whu/Tools/DependentLibrary/g2o/cmake_modules.tar.gz /usr/local/include/g2o/

解压

cd /usr/local/g2o
sudo tar -xzvf build.tar.gz
sudo tar -xzvf cmake_modules.tar.gz

返回工程，找到CMakeLists.txt

在加载g2o库那里添加如下几句：

#g2o
LIST(G2O_ROOT /usr/local/include/g2o/cmake_modules)
SET(G2O_ROOT /usr/local/include/g2o)
FIND_PACKAGE(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS} “/usr/local/eigen3”)

# 与G2O和OpenCV链接
target_link_libraries( g2oCurveFitting 
     ${OpenCV_LIBS}
     ${G2O_CORE_LIBRARY}
     ${G2O_STUFF_LIBRARY}
)

最后整个代码的运行结果如下:

/home/whu/SLAM/SLAM_Test/chapter06/build> /usr/bin/ninja
[1/1] Re-running CMake...
-- Eigen found (include: /usr/include/eigen3, version: 3.3.4)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   date_time
--   iostreams
--   serialization
--   regex
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Eigen found (include: /usr/include/eigen3, version: 3.3.4)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   date_time
--   iostreams
--   serialization
--   regex
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- Configuring done
-- Generating done
-- Build files have been written to: /home/whu/SLAM/SLAM_Test/chapter06/build
[3/6] Building CXX object ceresCurveFitting/CMakeFiles/ceresCurveFitting.dir/ceresCurveFitting.cpp.o
[4/6] Linking CXX executable ceresCurveFitting/ceresCurveFitting
[4/6] Building CXX object gaussNewton/CMakeFiles/gaussNewton.dir/gaussNewton.cpp.o
[5/6] Linking CXX executable gaussNewton/gaussNewton
[5/6] Building CXX object g2oCurveFitthing/CMakeFiles/g2oCurveFitting.dir/g2oCurveFitting.cpp.o
[6/6] Linking CXX executable g2oCurveFitthing/g2oCurveFitting
*** Finished ***

由于项目名定的是g2oCurveFitting，因此需要修改最后的

target_link_libraries( g2oCurveFitting 
     ${OpenCV_LIBS}
     ${G2O_CORE_LIBRARY}
     ${G2O_STUFF_LIBRARY}
)

（这个只是我遇见的问题，如果还有其他的问题，欢迎一起交流讨论）

编译信息中有PCL，我的工程很大，引用g2o只是其中一个子工程，所以大家莫奇怪！

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slam14

ch6

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G2OConfig

CMake

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