I was able to successfully configure and generate the build folder (KinectSLAM6D/build.). However, when I try to build it using make, I got an error saying gsl is not found. I am pretty sure this is just a configuration issue as I have gsl installed (they’re in usr/local), but I am unable to configure it. I have tried adding the following lines to CMakeList:
include_directories(${GSL_INCLUDE_DIRS} ${GSLCBLAS_INCLUDE_DIRS})
set(LIBS ${LIBS} ${GSL_LIBRARIES} ${GSLCBLAS_LIBRARIES})
I have copied the pertinent output below. I have found a couple of answers to compiling with gsl (adding -lgsl). However, I have no clue where to put that in CMakeLists or the generated MakeList and MakeList2 files.
Here's the generated output.
....
[ 44%] Building CXX object CMakeFiles/Kinect6DSLAM.dir/src/GraphOptimizer_G2O.cpp.o
[ 45%] Building CXX object CMakeFiles/Kinect6DSLAM.dir/src/CKinect2DRawlog.cpp.o
Linking CXX executable Kinect6DSLAM
/usr/bin/ld: warning: libopencv_core.so.2.3, needed by /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libmrpt-base.so, may conflict with libopencv_core.so.2.4
/usr/bin/ld: warning: libopencv_imgproc.so.2.3, needed by /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libmrpt-base.so, may conflict with libopencv_imgproc.so.2.4
/usr/bin/ld: warning: libopencv_highgui.so.2.3, needed by /usr/lib/gcc/x86_64-linux-gnu/4.6/../../../../lib/libmrpt-base.so, may conflict with libopencv_highgui.so.2.4
../gicp/libgicp.a(gicp.o): In function `dgc::gicp::GICPPointSet::ComputeMatrices()':
gicp.cpp:(.text+0x462): undefined reference to `gsl_vector_alloc'
gicp.cpp:(.text+0x470): undefined reference to `gsl_vector_alloc'
... a bunch more undefined references to gsl
collect2: ld returned 1 exit status
make[2]: *** [Kinect6DSLAM] Error 1
make[1]: *** [CMakeFiles/Kinect6DSLAM.dir/all] Error 2
make: *** [all] Error 2
This if the full CMakeList.txt. I am trying to run Miguel Algaba’s SLAM project.
PROJECT(KinectSLAM6D)
CMAKE_MINIMUM_REQUIRED(VERSION 2.8 FATAL_ERROR)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW) # Required by CMake 2.7+
endif(COMMAND cmake_policy)
# Set the output directory for the build executables
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/build)
#Add here your project dependencies
FIND_PACKAGE(MRPT REQUIRED hwdrivers maps graphslam) #Add here your project dependencies
FIND_PACKAGE(PCL REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED )
INCLUDE_DIRECTORIES(${PCL_INCLUDE_DIRS})
LINK_DIRECTORIES(${PCL_LIBRARY_DIRS})
ADD_DEFINITIONS(${PCL_DEFINITIONS})
# Required by StanfordGICP
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
FIND_PACKAGE(GSL REQUIRED)
include_directories(${GSL_INCLUDE_DIRS} ${GSLCBLAS_INCLUDE_DIRS})
set(LIBS ${LIBS} ${GSL_LIBRARIES} ${GSLCBLAS_LIBRARIES})
FIND_PACKAGE(Boost COMPONENTS system program_options REQUIRED)
include_directories(${PROJECT_SOURCE_DIR}/gicp)
include_directories(${PROJECT_SOURCE_DIR}/gicp/ann_1.1.1/include/ANN)
# G2O library
# Set up the top-level include directories
SET( G2O_INCLUDE ${PROJECT_SOURCE_DIR}/EXTERNAL/g2o CACHE PATH "Directory of G2O")
INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR} ${G2O_INCLUDE})
# Add g2o lib dir
LINK_DIRECTORIES( ${LINK_DIRECTORIES} "${G2O_INCLUDE}/lib" )
#Generate config.h
configure_file(g2o/trunk/config.h.in ${PROJECT_BINARY_DIR}/g2o/config.h)
include_directories(${PROJECT_BINARY_DIR})
INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o)
# Include the subdirectories
ADD_SUBDIRECTORY(g2o/trunk)
INCLUDE_DIRECTORIES(${CSPARSE_INCLUDE_DIR}) #You can use CPARSE or CHOLMOD
INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE_DIR})
set(G2O_DIR ${PROJECT_SOURCE_DIR}/g2o/trunk)
include_directories(${G2O_DIR})
link_directories(${G2O_DIR}/lib)
# Declare the target (an executable)
ADD_EXECUTABLE(Kinect6DSLAM kinect6DSLAM.cpp
./include/KinectGrabber.h
./include/KinectGrabber_OpenNI.h
./src/KinectGrabber_OpenNI.cpp
./include/KinectGrabber_Rawlog.h
./src/KinectGrabber_Rawlog.cpp
./include/KinectGrabber_Rawlog2.h
./src/KinectGrabber_Rawlog2.cpp
./include/KinectGrabber_MRPT.h
./src/KinectGrabber_MRPT.cpp
./include/VisualFeatureDescriptorExtractor.h
./include/VisualFeatureDescriptorExtractor_SURF_GPU.h
./include/VisualFeatureDescriptorExtractor_Generic.h
./include/VisualFeatureDescriptorExtractor_ORB.h
./include/VisualFeatureMatcher.h
./include/VisualFeatureMatcher_Generic.h
./include/PointCloudViewer.h
./include/PointCloudViewer_MRPT.h
./src/VisualFeatureDescriptorExtractor_SURF_GPU.cpp
./src/VisualFeatureDescriptorExtractor_Generic.cpp
./src/VisualFeatureDescriptorExtractor_ORB.cpp
./src/VisualFeatureMatcher_Generic.cpp
./src/PointCloudViewer_MRPT.cpp
./include/Visual3DRigidTransformationEstimator.h
./include/Visual3DRigidTransformationEstimator_SVD.h
./src/Visual3DRigidTransformationEstimator_SVD.cpp
./include/Visual3DRigidTransformationEstimator_RANSAC.h
./src/Visual3DRigidTransformationEstimator_RANSAC.cpp
./include/ICPPoseRefiner.h
./include/ICPPoseRefiner_PCL.h
./src/ICPPoseRefiner_PCL.cpp
./include/ICPPoseRefiner_StanfordGICP.h
./src/ICPPoseRefiner_StanfordGICP.cpp
./include/Miscellaneous.h
./src/Miscellaneous.cpp
./include/FrameRGBD.h
./src/FrameRGBD.cpp
./include/PointCloudDownsampler.h
./src/PointCloudDownsampler.cpp
./include/KeyframeLoopDetector.h
./src/KeyframeLoopDetector.cpp
./include/GraphOptimizer.h
./include/GraphOptimizer_MRPT.h
./src/GraphOptimizer_MRPT.cpp
./include/GraphOptimizer_G2O.h
./src/GraphOptimizer_G2O.cpp
./include/CKinect2DRawlog.h
./src/CKinect2DRawlog.cpp
)
TARGET_LINK_LIBRARIES(Kinect6DSLAM ${MRPT_LIBS}
${PCL_LIBRARIES}
${OpenCV_LIBS}
${Boost_LIBRARIES}
#GICP
${GSL_LIBRARIES}
${PROJECT_SOURCE_DIR}/gicp/ann_1.1.1/lib/libANN.a
${PROJECT_SOURCE_DIR}/gicp/libgicp.a
#G2O
core math_groups types_slam3d
solver_csparse #You can use CPARSE or CHOLMOD
solver_cholmod ${CHOLMOD_LIBRARIES}
)
# Declare the target (an executable)
ADD_EXECUTABLE(PairwiseAlignmentSteps PairwiseAlignmentSteps.cpp
./include/KinectGrabber.h
./include/KinectGrabber_OpenNI.h
./src/KinectGrabber_OpenNI.cpp
./include/KinectGrabber_Rawlog.h
./src/KinectGrabber_Rawlog.cpp
./include/KinectGrabber_MRPT.h
./src/KinectGrabber_MRPT.cpp
./include/VisualFeatureDescriptorExtractor.h
./include/VisualFeatureDescriptorExtractor_SURF_GPU.h
./include/VisualFeatureDescriptorExtractor_Generic.h
./include/VisualFeatureDescriptorExtractor_ORB.h
./include/VisualFeatureMatcher.h
./include/VisualFeatureMatcher_Generic.h
./include/PointCloudViewer.h
./include/PointCloudViewer_MRPT.h
./src/VisualFeatureDescriptorExtractor_SURF_GPU.cpp
./src/VisualFeatureDescriptorExtractor_Generic.cpp
./src/VisualFeatureDescriptorExtractor_ORB.cpp
./src/VisualFeatureMatcher_Generic.cpp
./src/PointCloudViewer_MRPT.cpp
./include/Visual3DRigidTransformationEstimator.h
./include/Visual3DRigidTransformationEstimator_SVD.h
./src/Visual3DRigidTransformationEstimator_SVD.cpp
./include/Visual3DRigidTransformationEstimator_RANSAC.h
./src/Visual3DRigidTransformationEstimator_RANSAC.cpp
./include/ICPPoseRefiner.h
./include/ICPPoseRefiner_PCL.h
./src/ICPPoseRefiner_PCL.cpp
./include/ICPPoseRefiner_StanfordGICP.h
./src/ICPPoseRefiner_StanfordGICP.cpp
./include/Miscellaneous.h
./src/Miscellaneous.cpp
./include/FrameRGBD.h
./src/FrameRGBD.cpp
./include/PointCloudDownsampler.h
./src/PointCloudDownsampler.cpp
)
TARGET_LINK_LIBRARIES(PairwiseAlignmentSteps ${MRPT_LIBS}
${PCL_LIBRARIES}
${OpenCV_LIBS}
${Boost_LIBRARIES}
#GICP
${GSL_LIBRARIES}
${PROJECT_SOURCE_DIR}/gicp/ann_1.1.1/lib/libANN.a
${PROJECT_SOURCE_DIR}/gicp/libgicp.a
)
# Set optimized building:
IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")
ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
target_link_libraries(Kinect6DSLAM ${LIBS})
Something tells me, that adding
target_link_libraries(Kinect6DSLAM ${LIBS})will help you.Also, instead of constructs like
you can use this: