I've been working on implementing ceres-solver. To check that I've done it right, Ive been testing out the helloworld.cc file that is given on the Ceres website. However when I run the program, I get a lengthy error (shown at the bottom)
I've looked through similar stack overflow questions (Installing ceres-solver on centOS7 and getting helloworld.cc to work) and I know this error has to do with the CMake List and the links found while compiling. However, I am still a bit confused on how to tell the compiler where to find the headers and the compiled libraries for the solver. If you could provide any resources on
- which cmake file I should be messing with (there are a ton in the ceres package)
- how I can tell the compiler where to find the needed libraries, It would be much appreciated.
I run this command:
g++ -I /usr/include/ -I/usr/include/eigen3 -I/usr/include/glog -l glog -l ceres helloworld.cc
details about my environment:
- Ubuntu 18
- eigen 3.34
- gcc7.5
- ceres 1.14
This is my error:
/tmp/cc9ybTzk.o: In function `main':
helloworld.cc:(.text+0xde): undefined reference to `google::InitGoogleLogging(char const*)'
helloworld.cc:(.text+0x10d): undefined reference to `ceres::Problem::Problem()'
helloworld.cc:(.text+0x15e): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
helloworld.cc:(.text+0x183): undefined reference to `ceres::Solver::Summary::Summary()'
helloworld.cc:(.text+0x1a3): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
helloworld.cc:(.text+0x1bc): undefined reference to `ceres::Solver::Summary::BriefReport[abi:cxx11]() const'
helloworld.cc:(.text+0x295): undefined reference to `ceres::Problem::~Problem()'
helloworld.cc:(.text+0x30b): undefined reference to `ceres::Problem::~Problem()'
/tmp/cc9ybTzk.o: In function `ceres::AutoDiffCostFunction<CostFunctor, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0>::AutoDiffCostFunction(CostFunctor*)':
helloworld.cc:(.text._ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC2EPS1_[_ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC5EPS1_]+0xc7): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int, google::CheckOpString const&)'
helloworld.cc:(.text._ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC2EPS1_[_ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC5EPS1_]+0xd3): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC2EPS1_[_ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC5EPS1_]+0xfd): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC2EPS1_[_ZN5ceres20AutoDiffCostFunctionI11CostFunctorLi1ELi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EEC5EPS1_]+0x109): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
/tmp/cc9ybTzk.o: In function `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >* google::MakeCheckOpString<int, int>(int const&, int const&, char const*)':
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x33): undefined reference to `google::base::CheckOpMessageBuilder::CheckOpMessageBuilder(char const*)'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x5d): undefined reference to `google::base::CheckOpMessageBuilder::ForVar2()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x7b): undefined reference to `google::base::CheckOpMessageBuilder::NewString[abi:cxx11]()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x8a): undefined reference to `google::base::CheckOpMessageBuilder::~CheckOpMessageBuilder()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiiEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0xad): undefined reference to `google::base::CheckOpMessageBuilder::~CheckOpMessageBuilder()'
/tmp/cc9ybTzk.o: In function `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >* google::MakeCheckOpString<int, ceres::DimensionType>(int const&, ceres::DimensionType const&, char const*)':
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x33): undefined reference to `google::base::CheckOpMessageBuilder::CheckOpMessageBuilder(char const*)'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x5d): undefined reference to `google::base::CheckOpMessageBuilder::ForVar2()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x7b): undefined reference to `google::base::CheckOpMessageBuilder::NewString[abi:cxx11]()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0x8a): undefined reference to `google::base::CheckOpMessageBuilder::~CheckOpMessageBuilder()'
helloworld.cc:(.text._ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc[_ZN6google17MakeCheckOpStringIiN5ceres13DimensionTypeEEEPNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKT_RKT0_PKc]+0xad): undefined reference to `google::base::CheckOpMessageBuilder::~CheckOpMessageBuilder()'
/tmp/cc9ybTzk.o: In function `ceres::internal::AutoDiff<CostFunctor, double, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0>::Differentiate(CostFunctor const&, double const* const*, int, double*, double**)':
helloworld.cc:(.text._ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_[_ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_]+0xb1): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int, google::CheckOpString const&)'
helloworld.cc:(.text._ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_[_ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_]+0xc0): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_[_ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_]+0xcf): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_[_ZN5ceres8internal8AutoDiffI11CostFunctordLi1ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0ELi0EE13DifferentiateERKS2_PKPKdiPdPSA_]+0x3b8): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
/tmp/cc9ybTzk.o: In function `void ceres::internal::Make1stOrderPerturbation<ceres::Jet<double, 1>, double, 1>(int, double const*, ceres::Jet<double, 1>*)':
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x50): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int)'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x61): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x9e): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0xcd): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int)'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0xde): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x11b): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x1c2): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_[_ZN5ceres8internal24Make1stOrderPerturbationINS_3JetIdLi1EEEdLi1EEEviPKT0_PT_]+0x1da): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
/tmp/cc9ybTzk.o: In function `void ceres::internal::Take0thOrderPart<ceres::Jet<double, 1>, double*>(int, ceres::Jet<double, 1> const*, double*)':
helloworld.cc:(.text._ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_[_ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_]+0x50): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int)'
helloworld.cc:(.text._ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_[_ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_]+0x61): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_[_ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_]+0x9e): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_[_ZN5ceres8internal16Take0thOrderPartINS_3JetIdLi1EEEPdEEviPKT_T0_]+0xf0): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
/tmp/cc9ybTzk.o: In function `void ceres::internal::Take1stOrderPart<ceres::Jet<double, 1>, double, 0, 1>(int, ceres::Jet<double, 1> const*, double*)':
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x50): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int)'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x61): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x9e): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0xcd): undefined reference to `google::LogMessageFatal::LogMessageFatal(char const*, int)'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0xde): undefined reference to `google::LogMessage::stream()'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x11b): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x1bb): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
helloworld.cc:(.text._ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_[_ZN5ceres8internal16Take1stOrderPartINS_3JetIdLi1EEEdLi0ELi1EEEviPKT_PT0_]+0x1d3): undefined reference to `google::LogMessageFatal::~LogMessageFatal()'
collect2: error: ld returned 1 exit status
