以slambook-master/project/0.2 工程为例理解CMAKELISTS.TXT

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最新推荐文章于 2024-06-13 00:24:00 发布

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cmake_minimum_required( VERSION 2.8 )
project ( myslam )

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" )

#PROJECT_SOURCE_DIR为工程的根目录
#cmake_modules里面存放自动获取依赖库的路径信息
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin )
set( LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib )

############### dependencies 依赖关系######################
#include_directories：添加头文件路径

# Eigen
include_directories( "/usr/include/eigen3" )

# OpenCV
find_package( OpenCV 3.1 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )
#include_directories( "/usr/local/include/opencv" )
#include_directories( "/usr/local/include")
#通过find_package( OpenCV 3.1 REQUIRED )，输出CMAKE为你找到的有关OPENCV的信息
message(STATUS "OpenCV library status:") 
message(STATUS "    version: ${OpenCV_VERSION}") 
message(STATUS "    libraries: ${OpenCV_LIBS}") 
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")



# Sophus 
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
message(STATUS "Sophus library status:") 
message(STATUS "    version: ${Sophus_VERSION}") 
message(STATUS "    libraries: ${Sophus_LIBRARIES}") 
message(STATUS "    include path: ${Sophus_INCLUDE_DIRS}")

# G2O
find_package( G2O REQUIRED )
include_directories( ${G2O_INCLUDE_DIRS} )

set( THIRD_PARTY_LIBS 
    ${OpenCV_LIBS}
    ${Sophus_LIBRARIES}
    g2o_core g2o_stuff g2o_types_sba
)

############### 添加工程的.cpp source 以及自己创建的.h 库 ######################
include_directories( ${PROJECT_SOURCE_DIR}/include )
add_subdirectory( src )
add_subdirectory( test )