CMakeLists-example.txt

#cmake最低要求
cmake_minimum_required(VERSION 3.12)

#项目名字
project(inside_out_sensor_bringup)

#编译器设置
set(CMAKE_CXX_STANDARD 11)

#如果没设置CMAKE_BUILD_TYPE
if(NOT CMAKE_BUILD_TYPE) # Release, Debug, MinSizeRel, RelWithDebInfo
    set(CMAKE_BUILD_TYPE "Release")
    message(STATUS "Build type not specified; defaulting to ${CMAKE_BUILD_TYPE}")
else()
    message(STATUS "Build Type set as: ${CMAKE_BUILD_TYPE}")
endif()

# set extra compile flags
## 针对C++的编译选项
set(CMAKE_CXX_FLAGS "-std=c++11 -O3 -pthread -fPIC -Wall -frtti -fexceptions -ftemplate-backtrace-limit=0")
# disable warning messages in debug
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations -Wno-unused-but-set-variable \
                    # -Wno-sign-compare -Wno-maybe-uninitialized -Wno-unused-variable")

# 针对C++在Debug模式下的编译选项
#set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O1 -g -ggdb")    


#设置库的输出路径
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/libs/${CMAKE_BUILD_TYPE})


message(STATUS "Checking Host System Processor: ${CMAKE_HOST_SYSTEM_PROCESSOR}")
if(NOT CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64" AND
    NOT CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
    message(FATAL_ERROR "Unsupported Processor")
endif()


# 添加 OpenCV 库的支持
find_package(OpenCV REQUIRED)
MESSAGE(STATUS "OpenCV Version : " ${OpenCV_VERSION})


#<target>：需要包含目录的目标。
#SYSTEM：将目录标记为系统包含目录，可能会抑制某些警告。
#AFTER|BEFORE：控制包含目录的搜索顺序。
#INTERFACE、PUBLIC、PRIVATE：指定包含目录的使用范围。
#dirs...：包含目录的路径。
#target_include_directories(<target> [SYSTEM] [AFTER|BEFORE]
#                           [INTERFACE|PUBLIC|PRIVATE] dirs...)


#头文件
include_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${CMAKE_CURRENT_SOURCE_DIR}/include
    ${OpenCV_INCLUDE_DIRS}
    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/yaml-cpp-0.8.0-${CMAKE_HOST_SYSTEM_PROCESSOR}/include
)

#链接库
link_directories(
    ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/yaml-cpp-0.8.0-${CMAKE_HOST_SYSTEM_PROCESSOR}/lib
)

#定义一个库目标（静态库、动态库或模块库）
#add_library(<name> [STATIC | SHARED | MODULE] [EXCLUDE_FROM_ALL]
#            source1 source2 ... sourceN)
add_library(sensor_bringup SHARED
    src/StereoCamera.cpp
    src/IMU.cpp
    src/RgbCamera.cpp
    src/Param.cpp
    # src/Vignetting.cpp
)

#添加目标之间的依赖关系，确保构建顺序
#<target>：需要依赖其他目标的目标。
#<depend-target>：目标所依赖的其他目标。
#add_dependencies(<target> <depend-target> [<depend-target> ...])


#指定目标需要链接的库
#target_link_libraries(<target> [item1 [item2 [...]]])

target_link_libraries(sensor_bringup
    yaml-cpp
    ${OpenCV_LIBS}
)

#定义一个可执行目标
add_executable(data_capture main.cpp)

target_link_libraries(data_capture 
    sensor_bringup
    yaml-cpp
    ${OpenCV_LIBS}
)