g2o、openssl交叉编译

fanzy1234

已于 2023-05-31 14:58:28 修改

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文章标签： linux c++

于 2023-03-28 17:48:10 首次发布

本文链接：https://blog.youkuaiyun.com/fanzy1234/article/details/129821243

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本文描述了如何修改CMakeLists.txt文件以适应aarch64架构的交叉编译，设置了C和C++编译器路径，并针对g2o项目配置了编译选项，包括启用OpenMP支持。此外，还涉及到了g2o库的源码目录结构和编译选项的调整。

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修改g2o cmkaelist.txt即可

cmake_minimum_required(VERSION 2.8)

PROJECT(g2o)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -flto")
##########################################################
##修改这里即可
SET(CMAKE_C_COMPILER   /usr/bin/aarch64-linux-gnu-gcc-7)
SET(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++-7)
##########################################################
SET(g2o_C_FLAGS)
SET(g2o_CXX_FLAGS)

# default built type
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

MESSAGE(STATUS "BUILD TYPE:" ${CMAKE_BUILD_TYPE})

SET (G2O_LIB_TYPE SHARED)


SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY})
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})

# Set search directory for looking for our custom CMake scripts to
# look for SuiteSparse, QGLViewer, and Eigen3.
LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)

# Detect OS and define macros appropriately
IF(UNIX)
  ADD_DEFINITIONS(-DUNIX)
  MESSAGE(STATUS "Compiling on Unix")
ENDIF(UNIX)

# Eigen library parallelise itself, though, presumably due to performance issues
# OPENMP is experimental. We experienced some slowdown with it
FIND_PACKAGE(OpenMP)
SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)")
IF(OPENMP_FOUND AND G2O_USE_OPENMP)
  SET (G2O_OPENMP 1)
  SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}")
  SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}")
  MESSAGE(STATUS "Compiling with OpenMP support")
ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)

# Compiler specific options for gcc
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 ")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 ")
# SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
# SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3")

# activate warnings !!!
SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W")
SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W")

# specifying compiler flags
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")


include_directories(
                    ${PROJECT_SOURCE_DIR}/../thirdparty/eigen3/include

                    )
link_directories(
)    


# Generate config.h
SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
configure_file(config.h.in ${g2o_SOURCE_DIR}/config.h)

# Set up the top-level include directories
INCLUDE_DIRECTORIES(
${g2o_SOURCE_DIR}/core
${g2o_SOURCE_DIR}/types
${g2o_SOURCE_DIR}/stuff 
${G2O_EIGEN3_INCLUDE})

# Include the subdirectories
ADD_LIBRARY(g2o ${G2O_LIB_TYPE}
#types
g2o/types/types_sba.h
g2o/types/types_six_dof_expmap.h
g2o/types/types_sba.cpp
g2o/types/types_six_dof_expmap.cpp
g2o/types/types_seven_dof_expmap.cpp
g2o/types/types_seven_dof_expmap.h
g2o/types/se3quat.h
g2o/types/se3_ops.h
g2o/types/se3_ops.hpp
#core
g2o/core/base_edge.h
g2o/core/base_binary_edge.h
g2o/core/hyper_graph_action.cpp
g2o/core/base_binary_edge.hpp
g2o/core/hyper_graph_action.h
g2o/core/base_multi_edge.h           
g2o/core/hyper_graph.cpp
g2o/core/base_multi_edge.hpp         
g2o/core/hyper_graph.h
g2o/core/base_unary_edge.h          
g2o/core/linear_solver.h
g2o/core/base_unary_edge.hpp         
g2o/core/marginal_covariance_cholesky.cpp
g2o/core/base_vertex.h               
g2o/core/marginal_covariance_cholesky.h
g2o/core/base_vertex.hpp             
g2o/core/matrix_structure.cpp
g2o/core/batch_stats.cpp             
g2o/core/matrix_structure.h
g2o/core/batch_stats.h               
g2o/core/openmp_mutex.h
g2o/core/block_solver.h              
g2o/core/block_solver.hpp            
g2o/core/parameter.cpp               
g2o/core/parameter.h                 
g2o/core/cache.cpp                   
g2o/core/cache.h
g2o/core/optimizable_graph.cpp       
g2o/core/optimizable_graph.h         
g2o/core/solver.cpp                  
g2o/core/solver.h
g2o/core/creators.h                 
g2o/core/optimization_algorithm_factory.cpp
g2o/core/estimate_propagator.cpp     
g2o/core/optimization_algorithm_factory.h
g2o/core/estimate_propagator.h       
g2o/core/factory.cpp                 
g2o/core/optimization_algorithm_property.h
g2o/core/factory.h                   
g2o/core/sparse_block_matrix.h
g2o/core/sparse_optimizer.cpp  
g2o/core/sparse_block_matrix.hpp
g2o/core/sparse_optimizer.h
g2o/core/hyper_dijkstra.cpp 
g2o/core/hyper_dijkstra.h
g2o/core/parameter_container.cpp     
g2o/core/parameter_container.h
g2o/core/optimization_algorithm.cpp 
g2o/core/optimization_algorithm.h
g2o/core/optimization_algorithm_with_hessian.cpp 
g2o/core/optimization_algorithm_with_hessian.h
g2o/core/optimization_algorithm_levenberg.cpp 
g2o/core/optimization_algorithm_levenberg.h
g2o/core/optimization_algorithm_gauss_newton.cpp 
g2o/core/optimization_algorithm_gauss_newton.h
g2o/core/jacobian_workspace.cpp 
g2o/core/jacobian_workspace.h
g2o/core/robust_kernel.cpp 
g2o/core/robust_kernel.h
g2o/core/robust_kernel_factory.cpp
g2o/core/robust_kernel_factory.h
g2o/core/robust_kernel_impl.cpp 
g2o/core/robust_kernel_impl.h
#stuff
g2o/stuff/string_tools.h
g2o/stuff/color_macros.h 
g2o/stuff/macros.h
g2o/stuff/timeutil.cpp
g2o/stuff/misc.h
g2o/stuff/timeutil.h
g2o/stuff/os_specific.c    
g2o/stuff/os_specific.h
g2o/stuff/string_tools.cpp
g2o/stuff/property.cpp       
g2o/stuff/property.h       
)

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