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This article is adapted from 3D Vision Workshop. This article summarizes the method of writing CMakeLists.txt files on the linux platform.
1 General Modules at the Beginning
1.1 CMake Version Requirements
cmake_minimum_required( VERSION 2.8 )# Project file name loop_closure, can be any name
project( loop_closure )
1.2 Build Mode
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
MESSAGE(“Build type: ” ${CMAKE_BUILD_TYPE})
Of course, if you add the statement at the front:
set(CMAKE_BUILD_TYPE debug)
This indicates setting it to debug mode compilation.
1.3 CheckC++ Version
Check C++ version
# Check C++11 or C++0x supportinclude(CheckCXXCompilerFlag)CHECK_CXX_COMPILER_FLAG(“-std=c++11” COMPILER_SUPPORTS_CXX11)CHECK_CXX_COMPILER_FLAG(“-std=c++0x” COMPILER_SUPPORTS_CXX0X)if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS “${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()
2 Project File Configuration Module
Next, start configuring various library modules.
2.1 If Only Including OpenCV Libraries
set(OpenCV_DIR “/usr/local/include/opencv3.2.0/share/OpenCV“)find_package(OpenCV REQUIRED)
include_directories( ${OpenCV_INCLUDE_DIRS} )# Generate executable file
add_executable(${PROJECT_NAME} src/loop_closure.cpp )
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
Note: The include directory for OpenCV here is the path containing OpenCVConfig.cmake.
As shown in the figure below:
2.2 If Including Third-Party Libraries in Source Form (.h and .cpp), Not Dynamic Libraries
Here we take adding the bag-of-words library DBoW2 as an example, where DBoW2 is included in source form, meaning it has not been compiled into a .so file.
2.2.1 Including Header Files of Third-Party Libraries
# Set the path corresponding to the .h file
set( DBoW2_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/include/)
#Include .h file paths
include_directories( ${OpenCV_INCLUDE_DIRS} ${DBoW2_INCLUDE_DIRS} ${DBoW2_INCLUDE_DIRS}/DBoW2/)
Note: Why use two paths ${DBoW2_INCLUDE_DIRS} and ${DBoW2_INCLUDE_DIRS}/DBoW2/?
To prevent not finding in the include layer, continue to search in the next layer path include/DBoW2/ to avoid header file lookup errors caused by inconsistent include paths for certain files.
2.2.2 Including cpp Files of Third-Party Libraries
set(DBoW2_SRCS “${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/src“)
#Generate executable file
add_executable(${PROJECT_NAME} src/loop_closure.cpp src/run_main.cpp ${DBoW2_SRCS}/BowVector.cpp ${DBoW2_SRCS}/FBrief.cpp ${DBoW2_SRCS}/FeatureVector.cpp ${DBoW2_SRCS}/FORB.cpp ${DBoW2_SRCS}/FSurf64.cpp ${DBoW2_SRCS}/QueryResults.cpp ${DBoW2_SRCS}/ScoringObject.cpp )
Among them, src/loop_closure.cpp src/run_main.cpp are implemented by myself in this project, while for other cpp files, just add the path directly.
Another way is to add the cpp file path more simply and conveniently.
file(GLOB DBoW2_SRCS ${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/src/*.cpp)
add_executable(${PROJECT_NAME} src/loop_closure.cpp src/run_main.cpp ${DBoW2_SRCS})
2.3 If Including Third-Party Libraries in Library Form (Here Taking Static Libraries as an Example(.a Suffix)
In the above project, it also includes the DBoW3 library, which has been compiled and installed in the computer memory by default. We can add the DBoW3 library as follows.
1）Include header files
set( DBoW3_INCLUDE_DIRS “/usr/local/include“)
2）Add library
set( DBoW3_LIBS “/usr/local/lib/libDBoW3.a“)
target_link_libraries(${PROJECT_NAME}${OpenCV_LIBS}${DBoW3_LIBS})
By the above method, you can call.
3 A Simple CMakeLists.txt File Demo
This demo includes the DLib library in addition to the libraries summarized above.
cmake_minimum_required( VERSION 2.8 )project( loop_closure )#set(CMAKE_BUILD_TYPE Debug)IF(NOT CMAKE_BUILD_TYPE) SET(CMAKE_BUILD_TYPE Release)ENDIF()MESSAGE(“Build type: ” ${CMAKE_BUILD_TYPE})# Check C++11 or C++0x supportinclude(CheckCXXCompilerFlag)CHECK_CXX_COMPILER_FLAG(“-std=c++11” COMPILER_SUPPORTS_CXX11)CHECK_CXX_COMPILER_FLAG(“-std=c++0x” COMPILER_SUPPORTS_CXX0X)if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS “${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()#opencv#set(OpenCV_DIR “/usr/local/include/opencv3.2.0/share/OpenCV”)set(OpenCV_DIR “/opt/ros/kinetic/share/OpenCV-3.3.1-dev“)find_package(OpenCV REQUIRED)set( DBoW3_INCLUDE_DIRS “/usr/local/include“)set( DBoW2_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/include/)message(${DBoW2_INCLUDE_DIRS})#important#file(GLOB DBoW2_SRCS ${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/src/*.cpp)#message(${DBoW2_SRCS})set(DBoW2_SRCS “${PROJECT_SOURCE_DIR}/ThirdParty/DBow-master/src“)message(${DBoW2_SRCS})
find_package(DLib QUIET PATHS ${DEPENDENCY_INSTALL_DIR})if(${DLib_FOUND}) message(“DLib library found, using it from the system“) include_directories(${DLib_INCLUDE_DIRS}) add_custom_target(Dependencies)else(${DLib_FOUND}) message(“DLib library not found in the system, it will be downloaded on build“) option(DOWNLOAD_DLib_dependency “Download DLib dependency” ON) if(${DOWNLOAD_DLib_dependency}) ExternalProject_Add(DLib PREFIX ${DEPENDENCY_DIR} GIT_REPOSITORY http://github.com/dorian3d/DLib GIT_TAG master INSTALL_DIR ${DEPENDENCY_INSTALL_DIR} CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>) add_custom_target(Dependencies ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} DEPENDS DLib) else() message(SEND_ERROR “Please, activate DOWNLOAD_DLib_dependency option or download manually“) endif(${DOWNLOAD_DLib_dependency})endif(${DLib_FOUND})
include_directories( ${OpenCV_INCLUDE_DIRS} ${DBoW3_INCLUDE_DIRS} ${DBoW2_INCLUDE_DIRS} ${DBoW2_INCLUDE_DIRS}/DBoW2/)message(“DBoW3_INCLUDE_DIRS ${DBoW3_INCLUDE_DIRS}“)message(“DBoW2_INCLUDE_DIRS ${DBoW2_INCLUDE_DIRS}“)message(“opencv ${OpenCV_VERSION}“)# dbow3# dbow3 is a simple lib so I assume you installed it in default directoryset( DBoW3_LIBS “/usr/local/lib/libDBoW3.a“)add_executable(${PROJECT_NAME} src/loop_closure.cpp src/run_main.cpp ${DBoW2_SRCS}/BowVector.cpp ${DBoW2_SRCS}/FBrief.cpp ${DBoW2_SRCS}/FeatureVector.cpp ${DBoW2_SRCS}/FORB.cpp ${DBoW2_SRCS}/FSurf64.cpp ${DBoW2_SRCS}/QueryResults.cpp ${DBoW2_SRCS}/ScoringObject.cpp )message(${DBoW2_SRCS}/BowVector.cpp)target_link_libraries(${PROJECT_NAME}${OpenCV_LIBS}
${DLib_LIBS}${DBoW3_LIBS})
4 Conclusion
The above is just a simple overview of the usage of CMakeLists.txt. If there is anything lacking, please criticize and correct. There are many insights to be explored in managing large projects, and due to space limitations, I will not display them here. You are welcome to join our learning circle “3D Vision Technology” for further discussion, communication, and learning.
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