Orbslam2 cmakelists File Structure Parsing

（ One ） Reference Library

1 Custom library

The following statements are uniformly used, including

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
)

The header file above , Put it together in the official library of the system

2 Official system library

Use first find_package

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(OpenCV 3.0 QUIET)

Then include the header file

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

Finally, link to 1 Shared libraries in

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
)

（ Two ） Generate your own executable

Unified use

add_executable    and    target_link_libraries    The only library is called   ${PROJECT_NAME}