cmake-practice实践

1、生成库文件

把多个cpp文件构建成 PROJECT_NAME为名字的库文件，生成libPROJECT_NAME.so

${ }表示引用名

add_library(${PROJECT_NAME} SHARED
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
)

2、 链接共享库

 

a.注意可以给自己编写的共享库添加链接，如下图

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

b.给可执行文件添加共享库 

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

 3、构建Examples中的可执行文件

# Build examples

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

add_executable(rgbd_tum Examples/RGB-D/rgbd_tum.cc)//添加可执行文件
target_link_libraries(rgbd_tum ${PROJECT_NAME})//把有所有共享库的${PROJECT_NAME}添加到可执行文件

 

 几个定义：

添加子目录下的源文件