【cmake】问题汇总记录

CMakeLists.txt很重要，以下问题不分先后难易，遇到则记录

找不到三方库

• 问题背景： 本地通过源码安装完 g2o 后，find_package 找不到该库，报错如下

CMake Error at CMakeLists.txt:12 (find_package):
  By not providing "FindG2O.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "G2O", but
  CMake did not find one.

  Could not find a package configuration file provided by "G2O" with any of
  the following names:

    G2OConfig.cmake
    g2o-config.cmake

  Add the installation prefix of "G2O" to CMAKE_PREFIX_PATH or set "G2O_DIR"
  to a directory containing one of the above files.  If "G2O" provides a
  separate development package or SDK, be sure it has been installed.

• 解决方法： 在 find_package(G2O REQUIRED) 前加入

# -- g2o源码下载路径
list(APPEND CMAKE_MODULE_PATH /home/xxx/3rdparty/g2o/cmake_modules)

# -- g2o编译安装位置
set(G2O_ROOT /usr/local/include/g2o)

• 可能引入的问题：

CMake Warning (dev) at CMakeLists.txt:12 (find_package):
  Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
  Run "cmake --help-policy CMP0074" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  CMake variable G2O_ROOT is set to:

    /usr/local/include/g2o

  For compatibility, CMake is ignoring the variable.
This warning is for project developers.  Use -Wno-dev to suppress it.

• 可以的解决方法： 在 CMakeLists.txt 中加入

cmake_policy(SET CMP0074 NEW) 

---

编库用库

• 问题背景： 想把一些常用的函数抽出来编成库方便调用，以 slambook2 的 ch7 为例，在 ch7 目录下创建 ch7_utils 文件夹，主要目录结构如下，将 find_feature_matches 函数打包入库

    ch7
    ├── ch7_utils
    │   ├── ch7_utils.h
    │   ├── ch7_utils.cpp
    │   └── CMakeLists.txt
    ├── orb_cv.cpp
    ├── triangulation.cpp
    └── CMakeLists.txt

如上，find_feature_matches 函数在 orb_cv.cpp 和 triangulation.cpp 均有使用，为了懒惰可将其写入库中，依习惯将工具函数打包放入对应 _utils 文件夹中 「当然也可以写.hpp文件供二者调用，更简单」

• 解决方法： 贴代码了直接

ch7_utils.h

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>

void find_feature_matches(const cv::Mat &img_1, const cv::Mat &img_2, std::vector<cv::KeyPoint> &keypoints_1,
    std::vector<cv::KeyPoint> &keypoints_2, std::vector<cv::DMatch> &matches);
    

ch7_utils.cpp

#include "ch7_utils.h"

void find_feature_matches(const cv::Mat &img_1, const cv::Mat &img_2, std::vector<cv::KeyPoint> &keypoints_1,
    std::vector<cv::KeyPoint> &keypoints_2, std::vector<cv::DMatch> &matches) {
	
	...	 // -- 函数内部省略

}
    

CMakeList.txt「ch7_utils」

set(module_name ch7_utils)

set(long_name slam_${module_name})

set(${module_name}_SOURCE_FILES
    ch7_utils.cpp
)

add_library(${long_name} SHARED ${${module_name}_SOURCE_FILES})

# -- 没必要按上面这么写，只是代码风格以及工程管理习惯
# -- 简单点的话一个add_library即可，如下

add_library(slam_ch7_utils SHARED ch7_utils.cpp)
    

CMakeList.txt「ch7」

include_directories(

	...

    ./ch7_utils/
)

add_subdirectory(ch7_utils)

add_executable(triangulation triangulation.cpp)
target_link_libraries(triangulation

	...

    slam_ch7_utils
)