slam 14 ch9 CMakelists.txt

MarkovLGXu

于 2023-02-15 17:57:16 发布

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分类专栏： C++ 编程文章标签： linux

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该文段是一个CMakeLists.txt文件的内容，用于配置一个名为bundle_adjustment的项目。项目中包含了两个可执行文件，分别使用G2O和Ceres库进行优化。文件指定了最低CMake版本为2.8，设定了编译类型为Release，并添加了C++11标准。同时，它查找并链接了G2O、Eigen3、CSPARSE、Sophus和Ceres库，以及fmt库，确保所有依赖项正确无误。

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cmake_minimum_required(VERSION 2.8)

project(bundle_adjustment)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-O3 -std=c++11")
set(CMAKE_CXX_STANDARD 14)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

include_directories(${PROJECT_SOURCE_DIR} ${G2O_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR} ${CSPARSE_INCLUDE_DIR})

set(FMT_LIBRARIES fmt::fmt)
Find_Package(G2O REQUIRED)
Find_Package(Eigen3 REQUIRED)
Find_Package(Ceres REQUIRED)
Find_Package(Sophus REQUIRED)
Find_Package(CSparse REQUIRED)

add_library(bal_common common.cpp)
add_executable(bundle_adjustment_g2o bundle_adjustment_g2o.cpp common.cpp)
add_executable(bundle_adjustment_ceres bundle_adjustment_ceres.cpp common.cpp)

target_link_libraries(bundle_adjustment_ceres ${CERES_LIBRARIES} bal_common)
target_link_libraries(bundle_adjustment_g2o ${G2O_LIBRARIES} ${FMT_LIBRARIES})
target_link_libraries(bundle_adjustment_g2o ${catkin_LIBRARIES} g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension fmt::fmt)