最近在学习ORB-SLAM,发现基本找不到CMakeLists的代码注释,就决定自己注释一份.
如果发现有问题的地方,欢迎和我交流.
cmake_minimum_required(VERSION 2.8) #设定cmake最小版本号 project(ORB_SLAM2) #指定项目工程 IF(NOT CMAKE_BUILD_TYPE) #编译的类型(debug;release) SET(CMAKE_BUILD_TYPE Release) #IF 和 ENDIF构成一个if语句 ENDIF() MESSAGE("Build type: " ${CMAKE_BUILD_TYPE}) #输出消息:"Build type: Release"(打印调试信息) #cmake_c_flags用来设置编译选项 如 -g -wall(不展示警告) ;-march=native，GCC会自动检测你的CPU支持的指令集 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native") # Check C++11 or C++0x support include(CheckCXXCompilerFlag) #include:从文件或模块加载并运行CMake代码 ；CheckCXXCompilerFlag: 检查CXX编译器是否支持给定标志 #以下代码都用于自动判断系统编译器是否支持c++11标准; CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS "${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) #list(APPEND <list><element> [<element> ...]) 添加新element到list中 #CMAKE_MODULE_PATH: 指定要由CMake模块加载的CMake模块的搜索路径include() 要么 find_package()命令，然后检查CMake随附的默认模块。 #{PROJECT_SOURCE_DIR}为包含PROJECT()的最近一个CMakeLists.txt文件所在的文件夹 #cmake_modules:用于找寻不知名库时,事先在CMakeLists.txt相同位置建立一个叫cmake_modules的文件夹，在里面创建寻找库并命名的指令 set(OpenCV_DIR /home/z/cmake-3.4.9/build) #设置OpenCV的目录 find_package(OpenCV 3.4.9 QUIET) if(NOT OpenCV_FOUND) message(FATAL_ERROR "OpenCV > 2.4.3 not found.") endif() find_package(Eigen3 3.1.0 REQUIRED) #找到各种头文件以及源码 find_package(Pangolin REQUIRED) include_directories( #提供头文件路径它提供了一个搜索头文件暂时的根目录，即你可以在cmakelists中写上 #include_directories(/usr/local/include)来让库文件搜索以/usr/local/include为基础，即在main函数前写上#include “opencv/cv.h"即可 ${PROJECT_SOURCE_DIR} #{PROJECT_SOURCE_DIR}为包含PROJECT()的最近一个CMakeLists.txt文件所在的文件夹 ${PROJECT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${Pangolin_INCLUDE_DIRS} ) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib) #设置变量到工程lib下 构建时将所有LIBRARY目标放置的位置 add_library(${PROJECT_NAME} SHARED #建立共享库 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 ) target_link_libraries(${PROJECT_NAME} #该指令的作用为将目标文件与库文件进行链接 ${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) #指定可执行文件的输出位置 CMAKE_RUNTIME_OUTPUT_DIRECTORY: 构建RUNTIME目标文件的输出目录 add_executable(rgbd_tum #使用指定的源文件将可执行文件添加到项目中。 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})