G2O库和Eigen库can not find 问题——FindG2O.cmake FindEigen3.cmake

CMakeLists设置

在CMakeLists里加入如下这句话，并在项目文件夹中新建cmake文件夹。

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

FindG2O.cmake文件内容

在cmake文件夹中，新建FindG2O.cmake文件和 FindEigen3.cmake文件
FindG2O.cmake文件包含以下内容

# Find the header files

FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
  ${G2O_ROOT}/include
  $ENV{G2O_ROOT}/include
  $ENV{G2O_ROOT}
  /usr/local/include
  /usr/include
  /opt/local/include
  /sw/local/include
  /sw/include
  NO_DEFAULT_PATH
  )

# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.

MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)

  FIND_LIBRARY("${MYLIBRARY}_DEBUG"
    NAMES "g2o_${MYLIBRARYNAME}_d"
    PATHS
    ${G2O_ROOT}/lib/Debug
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Debug
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

  FIND_LIBRARY("${MYLIBRARY}_DEBUG"
    NAMES "g2o_${MYLIBRARYNAME}_d"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    )
  
  FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ${G2O_ROOT}/lib/Release
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Release
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

  FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    )
  
  IF(NOT ${MYLIBRARY}_DEBUG)
    IF(MYLIBRARY)
      SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})
    ENDIF(MYLIBRARY)
  ENDIF( NOT ${MYLIBRARY}_DEBUG)
  
ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)

# Find the core elements
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)

# Find the CLI library
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)

# Find the pluggable solvers
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)

# Find the predefined types
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)

# G2O solvers declared found if we found at least one solver
SET(G2O_SOLVERS_FOUND "NO")
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
  SET(G2O_SOLVERS_FOUND "YES")
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)

# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
  SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

FindEigen3.cmake 文件内容

FindEigen3.cmake 文件夹中包含以下内容

# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
#   find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
#  EIGEN3_FOUND - system has eigen lib with correct version
#  EIGEN3_INCLUDE_DIR - the eigen include directory
#  EIGEN3_VERSION - eigen version

# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.

if(NOT Eigen3_FIND_VERSION)
  if(NOT Eigen3_FIND_VERSION_MAJOR)
    set(Eigen3_FIND_VERSION_MAJOR 2)
  endif(NOT Eigen3_FIND_VERSION_MAJOR)
  if(NOT Eigen3_FIND_VERSION_MINOR)
    set(Eigen3_FIND_VERSION_MINOR 91)
  endif(NOT Eigen3_FIND_VERSION_MINOR)
  if(NOT Eigen3_FIND_VERSION_PATCH)
    set(Eigen3_FIND_VERSION_PATCH 0)
  endif(NOT Eigen3_FIND_VERSION_PATCH)

  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
endif(NOT Eigen3_FIND_VERSION)

macro(_eigen3_check_version)
  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")

  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
    set(EIGEN3_VERSION_OK FALSE)
  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
    set(EIGEN3_VERSION_OK TRUE)
  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})

  if(NOT EIGEN3_VERSION_OK)

    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
                   "but at least version ${Eigen3_FIND_VERSION} is required")
  endif(NOT EIGEN3_VERSION_OK)
endmacro(_eigen3_check_version)

if (EIGEN3_INCLUDE_DIR)

  # in cache already
  _eigen3_check_version()
  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})

else (EIGEN3_INCLUDE_DIR)

  # specific additional paths for some OS
  if (WIN32)
    set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include")
  endif(WIN32)

  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
      PATHS
      ${CMAKE_INSTALL_PREFIX}/include
      ${EIGEN_ADDITIONAL_SEARCH_PATHS}
      ${KDE4_INCLUDE_DIR}
      PATH_SUFFIXES eigen3 eigen
    )

  if(EIGEN3_INCLUDE_DIR)
    _eigen3_check_version()
  endif(EIGEN3_INCLUDE_DIR)

  include(FindPackageHandleStandardArgs)
  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)

  mark_as_advanced(EIGEN3_INCLUDE_DIR)

endif(EIGEN3_INCLUDE_DIR)