在使用VScode编译plotTrajectory.cpp时，出现报错

[chenqi0603]

正在启动生成...
/usr/bin/g++ -fdiagnostics-color=always -g /home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp -o /home/galaxy-express1/slambook2/ch3/examples/plotTrajectory
/tmp/ccJGmIoZ.o：在函数‘DrawTrajectory(std::vector<Eigen::Transform<double, 3, 1, 0>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1, 0> > >)’中：
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:47：对‘pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, int, pangolin::Params const&)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:48：对‘glEnable’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:49：对‘glEnable’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:50：对‘glBlendFunc’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:54：对‘pangolin::ModelViewLookAt(double, double, double, double, double, double, double, double, double)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:53：对‘pangolin::ProjectionMatrix(int, int, double, double, double, double, double, double)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:55：对‘pangolin::OpenGlRenderState::OpenGlRenderState(pangolin::OpenGlMatrix const&, pangolin::OpenGlMatrix const&)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:57：对‘pangolin::CreateDisplay()’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:58：对‘pangolin::View::SetBounds(pangolin::Attach, pangolin::Attach, pangolin::Attach, pangolin::Attach, double)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:59：对‘pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:59：对‘pangolin::View::SetHandler(pangolin::Handler*)’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:61：对‘pangolin::ShouldQuit()’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:62：对‘glClear’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:63：对‘pangolin::View::Activate(pangolin::OpenGlRenderState const&) const’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:64：对‘glClearColor’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:65：对‘glLineWidth’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:72：对‘glBegin’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:73：对‘glColor3f’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:74：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:75：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:76：对‘glColor3f’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:77：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:78：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:79：对‘glColor3f’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:80：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:81：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:82：对‘glEnd’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:86：对‘glColor3f’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:87：对‘glBegin’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:89：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:90：对‘glVertex3d’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:91：对‘glEnd’未定义的引用
/home/galaxy-express1/slambook2/ch3/examples/plotTrajectory.cpp:93：对‘pangolin::FinishFrame()’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::_CheckGlDieOnError(char const*, int)’中：
/usr/local/include/pangolin/gl/glinclude.h:40：对‘glGetError’未定义的引用
/usr/local/include/pangolin/gl/glinclude.h:42：对‘pangolin::glErrorString(unsigned int)’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::GlTexture::~GlTexture()’中：
/usr/local/include/pangolin/gl/gl.hpp:162：对‘pangolin::ShouldQuit()’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:163：对‘glDeleteTextures’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::GlTexture::Bind() const’中：
/usr/local/include/pangolin/gl/gl.hpp:169：对‘glBindTexture’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::GlTexture::Reinitialise(int, int, int, bool, int, unsigned int, unsigned int, void*)’中：
/usr/local/include/pangolin/gl/gl.hpp:180：对‘glDeleteTextures’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:187：对‘glGenTextures’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:192：对‘glTexImage2D’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:195：对‘glTexParameteri’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:196：对‘glTexParameteri’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:198：对‘glTexParameteri’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:199：对‘glTexParameteri’未定义的引用
/usr/local/include/pangolin/gl/gl.hpp:202：对‘glTexParameteri’未定义的引用
/tmp/ccJGmIoZ.o:/usr/local/include/pangolin/gl/gl.hpp:203: 跟着更多未定义的参考到 glTexParameteri
/tmp/ccJGmIoZ.o：在函数‘pangolin::GlBufferData::Free()’中：
/usr/local/include/pangolin/gl/gl.hpp:678：对‘__glewDeleteBuffers’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::Handler::~Handler()’中：
/usr/local/include/pangolin/handler/handler.h:57：对‘vtable for pangolin::Handler’未定义的引用
/tmp/ccJGmIoZ.o:(.data.rel+0x0)：对‘vtable for pangolin::Handler’未定义的引用
/tmp/ccJGmIoZ.o:(.data.rel+0x8)：对‘vtable for pangolin::HandlerScroll’未定义的引用
/tmp/ccJGmIoZ.o：在函数‘pangolin::HandlerScroll::~HandlerScroll()’中：
/usr/local/include/pangolin/handler/handler.h:65：对‘vtable for pangolin::HandlerScroll’未定义的引用
collect2: error: ld returned 1 exit status

生成已完成，但出现错误。

• 终端进程已终止，退出代码: -1。
• 终端将被任务重用，按任意键关闭。

[chenqi0603]

头文件应该是没有问题的，但是这个报错确实少见，搜了半天没搜到

[karthikbolla]

头文件应该是没有问题的，但是这个报错确实少见，搜了半天没搜到

Did you solved the issue, i am facing the same

[DoYouDo2020]

碰到同样的问题了，还没有解决 @chenqi0603

[karthikbolla]

碰到同样的问题了，还没有解决 @chenqi0603

I faced the same issue, but solved it by properly using CMakeLists.txt and building it.

[zylinux]

I figured the issue ,please add a line "#include <Eigen/Geometry>" into plotTrajectory.cpp. I was going to submit a PR , but seems I do not have permission to create a remote branch and do the PR, anyway , I have emailed author the changes , hopefully he could get my email and fix it soon. @gaoxiang12