一起做RGB-D SLAM (3)学习心得

在学习高博大佬的一起做RGB-D SLAM (3)时，编译库文件的过程中遇到了如下问题：

CMake Error at src/CMakeLists.txt:17 (TARGET_LINK_LIBRARIES):
  Cannot specify link libraries for target "slambase" which is not built by
  this project.

解决的方案是将：

ADD_LIBRARY( slambase slamBase.cpp )
TARGET_LINK_LIBRARIES( slambase
    ${OpenCV_LIBS} 
    ${PCL_LIBRARIES} )

替换为：

add_library(slambase slamBase.cpp )
target_link_libraries(slambase ${OpenCV_LIBS} ${PCL_LIBS})

最终的CMakeLists.txt:

# 增加PCL库的依赖
 FIND_PACKAGE( PCL REQUIRED COMPONENTS common io )

# 增加opencv的依赖
 FIND_PACKAGE( OpenCV REQUIRED )

# 添加头文件和库文件
ADD_DEFINITIONS( ${PCL_DEFINITIONS} )
 INCLUDE_DIRECTORIES( ${PCL_INCLUDE_DIRS}  )
 LINK_LIBRARIES( ${PCL_LIBRARY_DIRS} )

ADD_EXECUTABLE( generate_pointcloud generatePointCloud.cpp )
TARGET_LINK_LIBRARIES( generate_pointcloud ${OpenCV_LIBS} 
     ${PCL_LIBRARIES} )


add_library(slambase slamBase.cpp )
target_link_libraries(slambase ${OpenCV_LIBS} ${PCL_LIBS})

编译之后结果：