Error when building dvo_benchmark?

[091405ccj]

Hello!
I can build the dvo_core, dvo_slam, dvo_ros successfully but it failed when building dvo_benchmark?
The error message is as follows:

ccj@ccj:~/DVO_slam$ catkin_make --pkg dvo_benchmark -DCMAKE_BUILD_TYPE=Release
Base path: /home/ccj/DVO_slam
Source space: /home/ccj/DVO_slam/src
Build space: /home/ccj/DVO_slam/build
Devel space: /home/ccj/DVO_slam/devel
Install space: /home/ccj/DVO_slam/install

Running command: "make cmake_check_build_system" in "/home/ccj/DVO_slam/build"

Running command: "make -j4 -l4" in "/home/ccj/DVO_slam/build/dvo_benchmark"

[ 4%] Built target dvo_slam_gencfg
[ 40%] Built target dvo_core
[ 47%] Built target dvo_visualization
[ 57%] Built target dvo_ros
[ 95%] Built target dvo_slam
[ 97%] Linking CXX executable /home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark
/usr/bin/ld: warning: libpcl_sample_consensus.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_sample_consensus.so.1.7
/usr/bin/ld: warning: libpcl_search.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_search.so.1.7
/usr/bin/ld: warning: libpcl_octree.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_octree.so.1.7
/usr/bin/ld: warning: libpcl_kdtree.so.1.7, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_search.so, may conflict with libpcl_kdtree.so.1.8
/usr/bin/ld: warning: libpcl_common.so.1.7, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_search.so, may conflict with libpcl_common.so.1.8
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::Timestamped::~Timestamped()': keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD2Ev[_ZN8dvo_slam11TimestampedD5Ev]+0x8): undefined reference to g2o::OptimizableGraph::Data::~Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::Timestamped::~Timestamped()': keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD0Ev[_ZN8dvo_slam11TimestampedD5Ev]+0xc): undefined reference to g2o::OptimizableGraph::Data::~Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::internal::KeyframeGraphImpl::addGraph(g2o::OptimizableGraph*)': keyframe_graph.cpp:(.text._ZN8dvo_slam8internal17KeyframeGraphImpl8addGraphEPN3g2o16OptimizableGraphE[_ZN8dvo_slam8internal17KeyframeGraphImpl8addGraphEPN3g2o16OptimizableGraphE]+0x11e): undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe(boost::shared_ptr<dvo_slam::LocalMap> const&)': keyframe_graph.cpp:(.text._ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE[_ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE]+0x775): undefined reference to g2o::OptimizableGraph::Data::Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o):(.rodata._ZTIN8dvo_slam11TimestampedE[_ZTIN8dvo_slam11TimestampedE]+0x10): undefined reference to typeinfo for g2o::OptimizableGraph::Data' /home/ccj/DVO_slam/devel/lib/libdvo_slam.a(local_map.cpp.o): In function dvo_slam::internal::LocalMapImpl::addFrameVertex(ros::Time const&)':
local_map.cpp:(.text._ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE[_ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE]+0x5d): undefined reference to g2o::OptimizableGraph::Data::Data()' local_map.cpp:(.text._ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE[_ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE]+0x80): undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(map_serializer.cpp.o): In function dvo_slam::serialization::TrajectorySerializer::serialize(dvo_slam::KeyframeGraph const&)': map_serializer.cpp:(.text+0x765): undefined reference to typeinfo for g2o::OptimizableGraph::Data'
collect2: error: ld returned 1 exit status
dvo_benchmark/CMakeFiles/benchmark.dir/build.make:502: recipe for target '/home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark' failed
make[2]: *** [/home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark] Error 1
CMakeFiles/Makefile2:3440: recipe for target 'dvo_benchmark/CMakeFiles/benchmark.dir/all' failed
make[1]: *** [dvo_benchmark/CMakeFiles/benchmark.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Can anyone give me some suggestions? Thank you!!

[091405ccj]

By the way, I installed g2o before. If i should delete the g2o firstly and install the old version then?