make visualizeGeometry 报错

安装并编译好了pangolin,但是make visualizeGeometry的时候报错：/usr/bin/cmake -H/home/zhuft/slambook/ch3/visualizeGeometry -B/home/zhuft/slambook/ch3/visualizeGeometry/build --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /home/zhuft/slambook/ch3/visualizeGeometry/build/CMakeFiles /home/zhuft/slambook/ch3/visualizeGeometry/build/CMakeFiles/progress.marks make -f CMakeFiles/Makefile2 all make[1]: Entering directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' make -f CMakeFiles/visualizeGeometry.dir/build.make CMakeFiles/visualizeGeometry.dir/depend make[2]: Entering directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' cd /home/zhuft/slambook/ch3/visualizeGeometry/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/zhuft/slambook/ch3/visualizeGeometry /home/zhuft/slambook/ch3/visualizeGeometry /home/zhuft/slambook/ch3/visualizeGeometry/build /home/zhuft/slambook/ch3/visualizeGeometry/build /home/zhuft/slambook/ch3/visualizeGeometry/build/CMakeFiles/visualizeGeometry.dir/DependInfo.cmake --color= make[2]: Leaving directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' make -f CMakeFiles/visualizeGeometry.dir/build.make CMakeFiles/visualizeGeometry.dir/build make[2]: Entering directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' [ 50%] Building CXX object CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o /usr/bin/c++ -I/usr/include/eigen3 -std=c++11 -o CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o -c /home/zhuft/slambook/ch3/visualizeGeometry/visualizeGeometry.cpp [100%] Linking CXX executable visualizeGeometry /usr/bin/cmake -E cmake_link_script CMakeFiles/visualizeGeometry.dir/link.txt --verbose=1 /usr/bin/c++ -std=c++11 -rdynamic CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o -o visualizeGeometry CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function main': visualizeGeometry.cpp:(.text+0x5c2): undefined reference to pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, int, int, pangolin::Params const&)' visualizeGeometry.cpp:(.text+0x5f9): undefined reference to glEnable' visualizeGeometry.cpp:(.text+0x647): undefined reference to pangolin::ModelViewLookAt(double, double, double, double, double, double, pangolin::AxisDirection)' visualizeGeometry.cpp:(.text+0x6b2): undefined reference to pangolin::ProjectionMatrix(int, int, double, double, double, double, double, double)' visualizeGeometry.cpp:(.text+0x6d2): undefined reference to pangolin::OpenGlRenderState::OpenGlRenderState(pangolin::OpenGlMatrix const&, pangolin::OpenGlMatrix const&)' visualizeGeometry.cpp:(.text+0x6e1): undefined reference to pangolin::CreateDisplay()' visualizeGeometry.cpp:(.text+0x76e): undefined reference to pangolin::View::SetBounds(pangolin::Attach, pangolin::Attach, pangolin::Attach, pangolin::Attach, double)' visualizeGeometry.cpp:(.text+0x7a5): undefined reference to pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)' visualizeGeometry.cpp:(.text+0x7b0): undefined reference to pangolin::View::SetHandler(pangolin::Handler*)' visualizeGeometry.cpp:(.text+0xa9b): undefined reference to pangolin::CreatePanel(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' visualizeGeometry.cpp:(.text+0xb0b): undefined reference to pangolin::View::SetBounds(pangolin::Attach, pangolin::Attach, pangolin::Attach, pangolin::Attach)' visualizeGeometry.cpp:(.text+0xb2e): undefined reference to pangolin::ShouldQuit()' visualizeGeometry.cpp:(.text+0xb43): undefined reference to glClear' visualizeGeometry.cpp:(.text+0xb5c): undefined reference to pangolin::View::Activate(pangolin::OpenGlRenderState const&) const' visualizeGeometry.cpp:(.text+0xb6b): undefined reference to pangolin::OpenGlRenderState::GetModelViewMatrix()' visualizeGeometry.cpp:(.text+0xed9): undefined reference to glColor3f' visualizeGeometry.cpp:(.text+0xefb): undefined reference to glLineWidth' visualizeGeometry.cpp:(.text+0xf10): undefined reference to glColor3f' visualizeGeometry.cpp:(.text+0xf1a): undefined reference to glBegin' visualizeGeometry.cpp:(.text+0xf2b): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xf40): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xf55): undefined reference to glColor3f' visualizeGeometry.cpp:(.text+0xf66): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xf7b): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xf98): undefined reference to glColor3f' visualizeGeometry.cpp:(.text+0xfa9): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xfbe): undefined reference to glVertex3f' visualizeGeometry.cpp:(.text+0xfc3): undefined reference to glEnd' visualizeGeometry.cpp:(.text+0xfc8): undefined reference to pangolin::FinishFrame()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::_CheckGlDieOnError(char const*, int)': visualizeGeometry.cpp:(.text._ZN8pangolin18_CheckGlDieOnErrorEPKci[_ZN8pangolin18_CheckGlDieOnErrorEPKci]+0x10): undefined reference to glGetError' visualizeGeometry.cpp:(.text._ZN8pangolin18_CheckGlDieOnErrorEPKci[_ZN8pangolin18_CheckGlDieOnErrorEPKci]+0x23): undefined reference to pangolin::glErrorString(unsigned int)' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::GlTexture::~GlTexture()': visualizeGeometry.cpp:(.text._ZN8pangolin9GlTextureD2Ev[_ZN8pangolin9GlTextureD5Ev]+0x26): undefined reference to pangolin::ShouldQuit()' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTextureD2Ev[_ZN8pangolin9GlTextureD5Ev]+0x52): undefined reference to glDeleteTextures' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::GlTexture::Bind() const': visualizeGeometry.cpp:(.text._ZNK8pangolin9GlTexture4BindEv[_ZNK8pangolin9GlTexture4BindEv]+0x1b): undefined reference to glBindTexture' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::GlTexture::Reinitialise(int, int, int, bool, int, unsigned int, unsigned int, void*)': visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x3b): undefined reference to glDeleteTextures' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x6e): undefined reference to glGenTextures' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xba): undefined reference to glTexImage2D' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xd8): undefined reference to glTexParameteri' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0xec): undefined reference to glTexParameteri' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x102): undefined reference to glTexParameteri' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x116): undefined reference to glTexParameteri' visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x12a): undefined reference to glTexParameteri' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o:visualizeGeometry.cpp:(.text._ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv[_ZN8pangolin9GlTexture12ReinitialiseEiiibijjPv]+0x13e): more undefined references to glTexParameteri' follow CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::GlBufferData::Free()': visualizeGeometry.cpp:(.text._ZN8pangolin12GlBufferData4FreeEv[_ZN8pangolin12GlBufferData4FreeEv]+0x1a): undefined reference to __glewDeleteBuffers' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::glDrawColouredCube(float, float)': visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x490): undefined reference to glVertexPointer' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x49a): undefined reference to glEnableClientState' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x4b7): undefined reference to glColor4f' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x4cb): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x4df): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x4fc): undefined reference to glColor4f' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x510): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x524): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x541): undefined reference to glColor4f' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x555): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x569): undefined reference to glDrawArrays' visualizeGeometry.cpp:(.text._ZN8pangolin18glDrawColouredCubeEff[_ZN8pangolin18glDrawColouredCubeEff]+0x573): undefined reference to glDisableClientState' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::Handler::~Handler()': visualizeGeometry.cpp:(.text._ZN8pangolin7HandlerD2Ev[_ZN8pangolin7HandlerD5Ev]+0xb): undefined reference to vtable for pangolin::Handler' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o:(.data.rel+0x0): undefined reference to vtable for pangolin::Handler' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o:(.data.rel+0x8): undefined reference to vtable for pangolin::HandlerScroll' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::Var::Var(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, RotationMatrix const&, int)': visualizeGeometry.cpp:(.text._ZN8pangolin3VarI14RotationMatrixEC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i[_ZN8pangolin3VarI14RotationMatrixEC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i]+0x3c): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::Var::Var(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, TranslationVector const&, int)': visualizeGeometry.cpp:(.text._ZN8pangolin3VarI17TranslationVectorEC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i[_ZN8pangolin3VarI17TranslationVectorEC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i]+0x36): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::Var::Var(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, QuaternionDraw const&, int)': visualizeGeometry.cpp:(.text._ZN8pangolin3VarI14QuaternionDrawEC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i[_ZN8pangolin3VarI14QuaternionDrawEC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKS1_i]+0x36): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function void pangolin::InitialiseNewVarMeta(pangolin::VarValue&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, double, double, int, bool)': visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI14RotationMatrixEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI14RotationMatrixEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x57): undefined reference to pangolin::Split(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char)' visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI14RotationMatrixEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI14RotationMatrixEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x232): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function void pangolin::InitialiseNewVarMeta<TranslationVector>(pangolin::VarValue<TranslationVector>&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double, double, int, bool)': visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI17TranslationVectorEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI17TranslationVectorEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x57): undefined reference to pangolin::Split(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, char)' visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI17TranslationVectorEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI17TranslationVectorEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x232): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function void pangolin::InitialiseNewVarMeta(pangolin::VarValue&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, double, double, int, bool)': visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI14QuaternionDrawEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI14QuaternionDrawEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x57): undefined reference to pangolin::Split(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char)' visualizeGeometry.cpp:(.text._ZN8pangolin20InitialiseNewVarMetaI14QuaternionDrawEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib[_ZN8pangolin20InitialiseNewVarMetaI14QuaternionDrawEEvRNS_8VarValueIT_EERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEddib]+0x232): undefined reference to pangolin::VarState::I()' CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o: In function pangolin::HandlerScroll::~HandlerScroll()': visualizeGeometry.cpp:(.text._ZN8pangolin13HandlerScrollD2Ev[_ZN8pangolin13HandlerScrollD5Ev]+0xf): undefined reference to vtable for pangolin::HandlerScroll' collect2: error: ld returned 1 exit status CMakeFiles/visualizeGeometry.dir/build.make:94: recipe for target 'visualizeGeometry' failed make[2]: *** [visualizeGeometry] Error 1 make[2]: Leaving directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/visualizeGeometry.dir/all' failed make[1]: *** [CMakeFiles/visualizeGeometry.dir/all] Error 2 make[1]: Leaving directory '/home/zhuft/slambook/ch3/visualizeGeometry/build' Makefile:83: recipe for target 'all' failed make: *** [all] Error 2