有时需要将程序在其他电脑上执行，需要将第三方库同时进行打包，这里以opencv+pcl为例，使用CPack进行打包
工程文件结构
project/
├── CMakeLists.txt # CMake构建脚本
├── src # 源文件├── main.cpp # 主程序文件
└── copy_libs.sh # 脚本，用于收集依赖库
└── build # 编译文件夹└── libs # 第三方动态库
CMakeLists.txt
cmake_minimum_required(VERSION 3.10)
project(project) # 工程名# 工程编译优化
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fstack-protector-all")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wstack-protector")# 查找OpenCV库
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})# 查找PCL库
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})# 添加可执行文件
add_executable(project src/main.cpp)# 链接OpenCV和PCL库
target_link_libraries(project ${OpenCV_LIBS} ${PCL_LIBRARIES})# 设置RPATH，以便运行时从/opt/install/lib目录中找到依赖库
set(CMAKE_INSTALL_RPATH "/opt/install/lib")
set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)# 指定安装目录为/opt/install
set(CMAKE_INSTALL_PREFIX "/opt/install")# 安装可执行文件到/opt/install/bin目录
install(TARGETS project DESTINATION bin)# 安装libs目录下的动态库到/opt/install/lib目录
install(DIRECTORY ${CMAKE_BINARY_DIR}/libs/ DESTINATION lib)# 设置CPack变量，打包deb文件
set(CPACK_GENERATOR "ZIP") # DEB
set(CPACK_PACKAGE_NAME "project")
set(CPACK_PACKAGE_VERSION "1.0.0")
set(CPACK_PACKAGE_CONTACT "your_email@example.com")
set(CPACK_PACKAGE_DESCRIPTION "这是一个包含OpenCV和PCL依赖库的示例项目")
set(CPACK_PACKAGE_MAINTAINER "您的姓名")
# 设置.deb包的安装前缀
set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/install")
include(CPack)
main.cpp
#include <opencv2/opencv.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <iostream>int main() {// OpenCV示例cv::Mat img = cv::Mat::zeros(100, 100, CV_8UC3);cv::circle(img, cv::Point(50, 50), 30, cv::Scalar(0, 0, 255), -1);cv::imwrite("circle.png", img);std::cout << "Saved image using OpenCV" << std::endl;// PCL示例pcl::PointCloud<pcl::PointXYZ> cloud;cloud.width = 5;cloud.height = 1;cloud.is_dense = false;cloud.points.resize(cloud.width * cloud.height);for (auto& point : cloud.points) {point.x = 1024 * rand() / (RAND_MAX + 1.0f);point.y = 1024 * rand() / (RAND_MAX + 1.0f);point.z = 1024 * rand() / (RAND_MAX + 1.0f);}pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);std::cout << "Saved PCD file using PCL" << std::endl;return 0;
}
copy_libs.sh
#!/bin/bash# 可执行文件路径
EXECUTABLE=project
# 动态库目标目录
DEST_DIR=libs# 创建libs目录
mkdir -p ${DEST_DIR}# 使用ldd获取依赖库并复制到libs目录
ldd ${EXECUTABLE} | grep "=>" | awk '{print $3}' | while read lib; doif [ -f "$lib" ]; thencp -v "$lib" ${DEST_DIR}fi
done
编译工程
cd build
cmake ..
make
../copy_libs.sh
make package
在build文件下生成了对应的文件，这里以ZIP为例，将文件拷贝到另一台主机上，主要系统要一致。
export LD_LIBRARY_PATH=/path/install/lib/:$LD_LIBRARY_PATH
cd bin
./project
