CMakeLists.txt语法结构

好人cc

已于 2023-08-15 22:24:28 修改

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文章标签： opencv 人工智能计算机视觉

于 2022-10-29 16:15:11 首次发布

本文链接：https://blog.csdn.net/weixin_68063596/article/details/127587963

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1.指定cmake的最小版本

cmake_minimum_required(VERSION 3.4.1)

这行命令是可选的，我们可以不写这句话，但在有些情况下，如果 CMakeLists.txt 文件中使用了一些高版本 cmake 特有的一些命令的时候，就需要加上这样一行，提醒用户升级到该版本之后再执行 cmake。

2.设置项目名称/声明一个cmake工程

project(demo)

3.设置编译模式

add_executable(demo demo.cpp) # 生成可执行文件
add_library(common STATIC util.cpp) # 生成静态库
add_library(common SHARED util.cpp) # 生成动态库或共享库

注：这些都是要生成的！！！

add_library 默认生成是静态库，通过以上命令生成文件名字，

在 Linux 下是：
demo
libcommon.a
libcommon.so
在 Windows 下是：
demo.exe
common.lib
common.dll

4.指定编译包含的源文件

4.1 明确指定包含哪些源文件

add_library(demo demo.cpp test.cpp util.cpp)

注：要编译哪些cpp文件

4.2 搜索所有的 cpp 文件

aux_source_directory(dir VAR) 发现一个目录下所有的源代码文件并将列表存储在一个变量中。

aux_source_directory(. SRC_LIST) # 搜索当前目录下的所有.cpp文件
add_library(demo ${SRC_LIST})

注：在4.1的基础上，先搜索再编译cpp

4.3 自定义搜索规则

file(GLOB SRC_LIST "*.cpp" "protocol/*.cpp")
add_library(demo ${SRC_LIST})
# 或者
file(GLOB SRC_LIST "*.cpp")
file(GLOB SRC_PROTOCOL_LIST "protocol/*.cpp")
add_library(demo ${SRC_LIST} ${SRC_PROTOCOL_LIST})
# 或者
file(GLOB_RECURSE SRC_LIST "*.cpp") #递归搜索
FILE(GLOB SRC_PROTOCOL RELATIVE "protocol" "*.cpp") # 相对protocol目录下搜索
add_library(demo ${SRC_LIST} ${SRC_PROTOCOL_LIST})
# 或者
aux_source_directory(. SRC_LIST)
aux_source_directory(protocol SRC_PROTOCOL_LIST)
add_library(demo ${SRC_LIST} ${SRC_PROTOCOL_LIST})

5. 查找指定的库文件

注：find_library(VAR name path)查找到指定的预编译库，并将它的路径存储在变量中。
默认的搜索路径为 cmake 包含的系统库，因此如果是 NDK 的公共库只需要指定库的 name 即可。

find_library( # Sets the name of the path variable.
              log-lib
 
              # Specifies the name of the NDK library that
              # you want CMake to locate.
              log )

类似的命令还有 find_file()、find_path()、find_program()、find_package()。

6. 设置包含的目录

include_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${CMAKE_CURRENT_BINARY_DIR}
    ${CMAKE_CURRENT_SOURCE_DIR}/include
)

Linux 下还可以通过如下方式设置包含的目录

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I${CMAKE_CURRENT_SOURCE_DIR}")

7. 设置链接库搜索目录

link_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}/libs
)

Linux 下还可以通过如下方式设置包含的目录

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L${CMAKE_CURRENT_SOURCE_DIR}/libs")

8. 设置 target 需要链接的库

target_link_libraries( # 目标库
                       demo
 
                       # 目标库需要链接的库
                       # log-lib 是上面 find_library 指定的变量名
                       ${log-lib} )

注：链接库！！即步骤5找到的！！

注：使用一个已经存在的动态库，需要用到CMake中两个命令，分别是：

link_directories
target_link_libraries

8.1 指定链接动态库或静态库

target_link_libraries(demo libface.a) # 链接libface.a
target_link_libraries(demo libface.so) # 链接libface.so

8.2 指定全路径

 target_link_libraries(demo ${CMAKE_CURRENT_SOURCE_DIR}/libs/libface.a)
target_link_libraries(demo ${CMAKE_CURRENT_SOURCE_DIR}/libs/libface.so)

8.3 指定链接多个库

target_link_libraries(demo
    ${CMAKE_CURRENT_SOURCE_DIR}/libs/libface.a
    boost_system.a
    boost_thread
    pthread)

9.打印信息

message(${PROJECT_SOURCE_DIR})
message("build with debug mode")
message(WARNING "this is warnning message")
message(FATAL_ERROR "this build has many error") # FATAL_ERROR 会导致编译失败

10. 包含其它 cmake 文件

include(./common.cmake) # 指定包含文件的全路径
include(def) # 在搜索路径中搜索def.cmake文件
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) # 设置include的搜索路径

参考链接🔗http://include(./common.cmake) # 指定包含文件的全路径 include(def) # 在搜索路径中搜索def.cmake文件 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake) # 设置include的搜索路径

视觉SLAM十四讲 ch2 CMakeLists.txt

# 声明要求的 cmake 最低版本
cmake_minimum_required(VERSION 2.8)

# 声明一个 cmake 工程
project(HelloSLAM)

# 设置编译模式
set(CMAKE_BUILD_TYPE "Debug")

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

# 添加hello库
add_library(hello libHelloSLAM.cpp)
# 共享库
add_library(hello_shared SHARED libHelloSLAM.cpp)

# 添加可执行程序调用hello库中函数
add_executable(useHello useHello.cpp)
# 将库文件链接到可执行程序上
target_link_libraries(useHello hello_shared)

orb-slam CMakeLists.txt

# 声明要求的 cmake 最低版本
cmake_minimum_required(VERSION 2.8)

# 声明一个 cmake 工程
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)

# 添加库  --OpenCV
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

# 添加库
find_package(Eigen3 3.1.0 REQUIRED)

# 添加库
find_package(Pangolin REQUIRED)

include_directories(
${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
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
)

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
)

# 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})

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

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

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


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

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

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

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

视觉SLAM十四讲 ch13 CMakeLists.txt

# 声明要求的 cmake 最低版本
cmake_minimum_required(VERSION 2.8)

# 声明一个 cmake 工程
project(myslam)

# 设置编译模式
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++11 -O3 -fopenmp -pthread")

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)

# 添加库
############### dependencies ######################
# Eigen
include_directories("/usr/include/eigen3")

# OpenCV
find_package(OpenCV 3.1 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# pangolin
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

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

# glog
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})

# gtest
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})

# gflags
find_package(GFlags REQUIRED)
include_directories(${GFLAGS_INCLUDE_DIRS})

# csparse
find_package(CSparse REQUIRED)
include_directories(${CSPARSE_INCLUDE_DIR})

set(THIRD_PARTY_LIBS
        ${OpenCV_LIBS}
        ${Sophus_LIBRARIES}
        ${Pangolin_LIBRARIES} GL GLU GLEW glut
        g2o_core g2o_stuff g2o_types_sba g2o_solver_csparse g2o_csparse_extension
        ${GTEST_BOTH_LIBRARIES}
        ${GLOG_LIBRARIES}
        ${GFLAGS_LIBRARIES}
        pthread
        ${CSPARSE_LIBRARY}
        )

enable_testing()

############### source and test ######################
# 加头文件
include_directories(${PROJECT_SOURCE_DIR}/include)
# 加入各子工程
add_subdirectory(src)
add_subdirectory(test)
add_subdirectory(app)