编写cmake

1.指定cmake最低版本2.8

cmake_minimum_required(VERSION 2.8)

2.项目名name

project(name)

3.添加头文件目录
PROJECT_SOURCE_DIR工程总目录下的include文件夹

INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/include)

4.添加指定源文件
语法：

add_library(<name> [STATIC | SHARED | MODULE]
            [EXCLUDE_FROM_ALL]
            [source1] [source2] [...])

name表示生成的动态链接库名字
STATIC、SHARED和MODULE的指定生成的库文件的类型
source1 source2分别表示各个源文件

add_library(lib_a SHARED
src/linklist.cpp
)

5.添加一个可执行程序
语法：
add_executable( 程序名 源代码文件 ）

add_executable(${PROJECT_NAME} "main.cpp")

6.链接可执行程序与库文件
语法：

target_link_libraries(<target> [item1] [item2] [...]
                      [[debug|optimized|general] <item>] ...)

target：可执行文件
item：库文件名

target_link_libraries(${PROJECT_NAME} lib_a)

7.查找库路径
不知道头文件和链接库的位置

find_package(<name>)//查找库路径
include_directories(<NAME>_INCLUDE_DIRS) //包含库的头文件
target_link_libraries(源文件 <NAME>_LIBRARIES)//链接库和可执行文件

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

set(OpenCV_DIR "/home/htt/opencv-2.4.9/cmake")

find_package(OpenCV 2.4.3 REQUIRED)#自动搜索库路径
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(#向工程中添加特定头文件搜索路径
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED#生成动态库
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/Camera.cpp
src/CameraCtrl.cpp
src/CtrlInf.cpp
src/MoveSenseCamera.cpp
src/runCamera2.cpp
src/VL4IF.cpp

)

target_link_libraries(${PROJECT_NAME}#为源程序生成的动态库 链接 依赖的共享库
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
/usr/lib/x86_64-linux-gnu/libusb-1.0.so
/usr/lib/x86_64-linux-gnu/libudev.so
/usr/lib/x86_64-linux-gnu/libusb.so
/usr/lib/x86_64-linux-gnu/libv4l1.so
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

#add_executable(rgbd_tum
#Examples/RGB-D/rgbd_tum.cc)
#target_link_libraries(rgbd_tum ${PROJECT_NAME})

add_executable(RGBD_offline_save
Examples/RGB-D/offline_save.cc)
target_link_libraries(RGBD_offline_save ${PROJECT_NAME})

add_executable(RGBD_offline_load
Examples/RGB-D/offline_load.cc)
target_link_libraries(RGBD_offline_load ${PROJECT_NAME})

add_executable(RGBD_online_save
Examples/RGB-D/online_save.cc)
target_link_libraries(RGBD_online_save ${PROJECT_NAME})

add_executable(RGBD_online_load
Examples/RGB-D/online_load.cc)
target_link_libraries(RGBD_online_load ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(STEREO_offline_save
Examples/Stereo/offline_save.cc)
target_link_libraries(STEREO_offline_save ${PROJECT_NAME})

add_executable(STEREO_offline_load
Examples/Stereo/offline_load.cc)
target_link_libraries(STEREO_offline_load ${PROJECT_NAME})

add_executable(STEREO_online_save
Examples/Stereo/online_save.cc)
target_link_libraries(STEREO_online_save ${PROJECT_NAME})

add_executable(STEREO_online_load
Examples/Stereo/online_load.cc)
target_link_libraries(STEREO_online_load ${PROJECT_NAME})