LIB_PREFIX: 设置生成库的前缀 SET(LIB_PREFIX g2o_)
# The library prefix
SET(LIB_PREFIX g2o_)
变量的默认配置
# default built type IF(NOT CMAKE_BUILD_TYPE) SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." FORCE) ENDIF(NOT CMAKE_BUILD_TYPE)
CMAKE_DEBUG_POSTFIX ,CMAKE_RELEASE_POSTFIX,CMAKE_RELWITHDEBINFO_POSTFIX,CMAKE_MINSIZEREL_POSTFIX：不同版本生成库的不同后缀声明变量
# postfix, based on type SET(CMAKE_DEBUG_POSTFIX "_d" CACHE STRING "postfix applied to debug build of libraries") SET(CMAKE_RELEASE_POSTFIX "" CACHE STRING "postfix applied to release build of libraries") SET(CMAKE_RELWITHDEBINFO_POSTFIX "_rd" CACHE STRING "postfix applied to release-with-debug-information libraries") SET(CMAKE_MINSIZEREL_POSTFIX "_s" CACHE STRING "postfix applied to minimium-size-build libraries")
EXE_POSTFIX：生成ELF文件的后缀
IF(CMAKE_BUILD_TYPE MATCHES Release)
SET(EXE_POSTFIX)
ELSEIF(CMAKE_BUILD_TYPE MATCHES Debug)
SET(EXE_POSTFIX ${CMAKE_DEBUG_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES RelWithDebInfo)
SET(EXE_POSTFIX ${CMAKE_RELWITHDEBINFO_POSTFIX})
ELSEIF(CMAKE_BUILD_TYPE MATCHES MinSizeRel)
SET(EXE_POSTFIX ${CMAKE_MINSIZEREL_POSTFIX})
ENDIF(CMAKE_BUILD_TYPE MATCHES Release)
允许客户选择的构建库的类型
# Allow the developer to select if Dynamic or Static libraries are built OPTION (BUILD_SHARED_LIBS "Build Shared Libraries (preferred and required for the g2o plugin system)" ON) SET (G2O_LIB_TYPE STATIC) IF (BUILD_SHARED_LIBS) SET (G2O_LIB_TYPE SHARED) ENDIF()
bin和libs输出路径
# Set the output directory for the build executables and libraries SET(g2o_RUNTIME_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the binaries") IF(WIN32) SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/bin CACHE PATH "Target for the libraries") ELSE(WIN32) SET(g2o_LIBRARY_OUTPUT_DIRECTORY ${g2o_SOURCE_DIR}/lib CACHE PATH "Target for the libraries") ENDIF(WIN32) SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${g2o_LIBRARY_OUTPUT_DIRECTORY}) SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${g2o_RUNTIME_OUTPUT_DIRECTORY})
声明其他模块的位置
# Set search directory for looking for our custom CMake scripts to # look for SuiteSparse, QGLViewer, and Eigen3. LIST(APPEND CMAKE_MODULE_PATH ${g2o_SOURCE_DIR}/cmake_modules)
根据不同操作系统选择不同宏定义
# Detect OS and define macros appropriately IF(WIN32) ADD_DEFINITIONS(-DWINDOWS) MESSAGE(STATUS "Compiling on Windows") IF(MSVC) MESSAGE(STATUS "Compiling with MSVC") ADD_DEFINITIONS(-DNOMINMAX) ADD_DEFINITIONS(-D_USE_MATH_DEFINES) # SSE2 optimizations if(NOT CMAKE_SIZEOF_VOID_P EQUAL 8) # No need to specify if building for x64 (actually, it generates an annoying warning) ADD_DEFINITIONS("/arch:SSE2") endif() IF (BUILD_SHARED_LIBS) # disable warning on missing DLL interfaces ADD_DEFINITIONS("/wd4251") ENDIF() # Fix issue: https://github.com/RainerKuemmerle/g2o/issues/66 # Link error LNK2005 due to duplicated symbols add_definitions("/Ob2") # Fix other stupid warnings: add_definitions(-D_CRT_SECURE_NO_WARNINGS=1) # Avoid deprecated fprintf(), etc. add_definitions("/nologo") add_definitions("/wd4244") # Conversion from double -> int add_definitions("/wd4267") # Conversion during return add_definitions("/wd4522") # Duplicated operator=() in Eigen headers ENDIF(MSVC) ELSEIF(CYGWIN) MESSAGE(STATUS "Compiling on Cygwin") ADD_DEFINITIONS(-DCYGWIN) ELSEIF(APPLE) ADD_DEFINITIONS(-DUNIX) MESSAGE(STATUS "Compiling on OSX") ELSEIF(UNIX) ADD_DEFINITIONS(-DUNIX) MESSAGE(STATUS "Compiling on Unix") ENDIF(WIN32)
# detect Android Cross Compiler
# based on android-cmake which sets the variable ANDROID for us
IF(ANDROID)
ADD_DEFINITIONS(-DANDROID)
MESSAGE(STATUS "Cross compiling for Android")
ENDIF()
查找模块
# For building the CHOLMOD / CSPARSE solvers FIND_PACKAGE(Cholmod) FIND_PACKAGE(BLAS) FIND_PACKAGE(LAPACK) IF(CHOLMOD_FOUND AND BLAS_FOUND AND LAPACK_FOUND) MESSAGE(STATUS "Found CHOLMOD and its dependencies") SET(CHOLMOD_FOUND TRUE) ELSE() SET(CHOLMOD_FOUND FALSE) ENDIF() FIND_PACKAGE(CSparse) IF(CSPARSE_FOUND) SET(BUILD_CSPARSE OFF CACHE BOOL "Build local CSparse library") ELSE(CSPARSE_FOUND) SET(BUILD_CSPARSE ON CACHE BOOL "Build local CSparse library") IF(BUILD_CSPARSE) SET(CSPARSE_FOUND TRUE) ENDIF() ENDIF(CSPARSE_FOUND) OPTION(BUILD_LGPL_SHARED_LIBS "Build LGPL Code as Shared Libraries (LGPL Code)" ON) SET (G2O_LGPL_LIB_TYPE STATIC) IF (BUILD_LGPL_SHARED_LIBS) SET (G2O_LGPL_LIB_TYPE SHARED) ELSE() MESSAGE(STATUS "Building LGPL code as static library (affects license of the binary)") ENDIF()
OpenNMP的加速表现不佳
# Eigen library parallelise itself, though, presumably due to performance issues # OPENMP is experimental. We experienced some slowdown with it SET(G2O_USE_OPENMP OFF CACHE BOOL "Build g2o with OpenMP support (EXPERIMENTAL)") IF(G2O_USE_OPENMP) FIND_PACKAGE(OpenMP) IF(OPENMP_FOUND) SET (G2O_OPENMP 1) SET(g2o_C_FLAGS "${g2o_C_FLAGS} ${OpenMP_C_FLAGS}") SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -DEIGEN_DONT_PARALLELIZE ${OpenMP_CXX_FLAGS}") MESSAGE(STATUS "Compiling with OpenMP support") ENDIF(OPENMP_FOUND) ENDIF(G2O_USE_OPENMP)
GUI
# OpenGL is used in the draw actions for the different types, as well # as for creating the GUI itself FIND_PACKAGE(OpenGL) SET(G2O_USE_OPENGL ON CACHE BOOL "Build g2o with OpenGL support for visualization") IF (OPENGL_FOUND AND G2O_USE_OPENGL) SET (G2O_HAVE_OPENGL 1) INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR}) MESSAGE(STATUS "Compiling with OpenGL support") ENDIF() # For building the GUI FIND_PACKAGE(QGLViewer)
Core Apps and Exampls
# shall we build the core apps using the library SET(G2O_BUILD_APPS ON CACHE BOOL "Build g2o apps") IF(G2O_BUILD_APPS) MESSAGE(STATUS "Compiling g2o apps") ENDIF(G2O_BUILD_APPS) include(CMakeDependentOption) CMAKE_DEPENDENT_OPTION(G2O_BUILD_LINKED_APPS "Build apps linked with the libraries (no plugin system)" OFF "G2O_BUILD_APPS" OFF) # shall we build the examples SET(G2O_BUILD_EXAMPLES ON CACHE BOOL "Build g2o examples") IF(G2O_BUILD_EXAMPLES) MESSAGE(STATUS "Compiling g2o examples") ENDIF(G2O_BUILD_EXAMPLES
gcc编译器选项
# Compiler specific options for gcc IF(CMAKE_COMPILER_IS_GNUCXX) OPTION (BUILD_WITH_MARCH_NATIVE "Build with \"-march native\"" ON) MESSAGE(STATUS "Compiling with GCC") IF(NOT ${ARCH} MATCHES arm) # Generic settings for optimisation SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -msse4.2") SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -msse4.2") ENDIF() # switch off optimization for debug builds SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O0") SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -O0") # OS X #IF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") #SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}") #SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE}") #ENDIF(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # Linux IF(BUILD_WITH_MARCH_NATIVE AND NOT ${ARCH} MATCHES arm AND ${CMAKE_SYSTEM_NAME} MATCHES "Linux") SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native") SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native") ENDIF() # activate warnings !!! SET(g2o_C_FLAGS "${g2o_C_FLAGS} -Wall -W") SET(g2o_CXX_FLAGS "${g2o_CXX_FLAGS} -Wall -W") ENDIF(CMAKE_COMPILER_IS_GNUCXX)
编译器对C11的支持
# C++11 support IF(NOT MSVC) include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) if(COMPILER_SUPPORTS_CXX11) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") elseif(COMPILER_SUPPORTS_CXX0X) set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") else() message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") endif() endif()
编译器的编译条件设置
# specifying compiler flags SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}") SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
Eigen3的路径设置
# Find Eigen3 SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE}) FIND_PACKAGE(Eigen3) IF(EIGEN3_FOUND) SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") ELSE(EIGEN3_FOUND) SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") ENDIF(EIGEN3_FOUND)
头文件路径设置
# Set up the top-level include directories
INCLUDE_DIRECTORIES(${g2o_SOURCE_DIR} ${G2O_EIGEN3_INCLUDE})
生成配置文件和添加子文件夹
# Generate config.h SET(G2O_OPENGL_FOUND ${OPENGL_FOUND}) SET(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND}) SET(G2O_HAVE_CSPARSE ${CSPARSE_FOUND}) SET(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS}) SET(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS}) SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}") configure_file(config.h.in ${PROJECT_BINARY_DIR}/g2o/config.h) include_directories(${PROJECT_BINARY_DIR}) INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o) # Include the subdirectories ADD_SUBDIRECTORY(EXTERNAL) ADD_SUBDIRECTORY(g2o)
