在cmakelist文件中，配置pcl、eigen、opencv、yaml-cpp、openmp库

配置pcl库

find_package(PCL 1.7 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (node_name source_code)
target_link_libraries(node_name ${PCL_LIBRARIES})

配置eigen库

find_package(cmake_modules REQUIRED)
find_package(Eigen3 REQUIRED)

include_directories(${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN3_DEFINITIONS})

配置opencv库

find_package(OpenCV REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})

target_link_libraries(node_name ${OpenCV_LIBRARIES})

配置yaml-cpp库

find_package(yaml-cpp REQUIRED)
include_directories(${YAML_CPP_INCLUDE_DIR})
target_link_libraries(node_name yaml-cpp)

配置openmp库

FIND_PACKAGE( OpenMP REQUIRED)
if(OPENMP_FOUND)
message(“OPENMP FOUND”)
set(CMAKE_C_FLAGS “${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}”)
set(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}”)
set(CMAKE_EXE_LINKER_FLAGS “${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}”)
endif()