ubuntu18.04 cmake 鏈接海康相機的第三方庫，生成庫並調用

搗鼓了將近1天，其實一開始的方法是對的，不知道爲什麼qt會報錯，target_link_libraries的其實是自己的生成庫的名字，現在把完整的例子放在下面，這裏使用usb_cam的包然後自己修改，並調用海康相機的庫。

cmake_minimum_required(VERSION 2.8.3)
project(usb_cam)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
    image_transport
    roscpp
    std_msgs
    std_srvs
    sensor_msgs
    camera_info_manager
    cv_bridge
    )

find_package(OpenCV 3 REQUIRED)

## pkg-config libraries
find_package(PkgConfig REQUIRED)
pkg_check_modules(avcodec libavcodec REQUIRED)
pkg_check_modules(swscale libswscale REQUIRED)

###################################################
## Declare things to be passed to other projects ##
###################################################

## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ${PROJECT_NAME}
    )

###########
## Build ##
###########

include_directories(include
    include/mvs
    ${catkin_INCLUDE_DIRS}
    ${avcodec_INCLUDE_DIRS}
    ${swscale_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    )

if(CMAKE_SIZEOF_VOID_P EQUAL 8)
    link_directories(${catkin_LIB_DIRS}  lib/64)
else()
    link_directories(${catkin_LIB_DIRS}  lib/32)
endif()

## Build the USB camera library
add_library(${PROJECT_NAME}
    include/usb_cam/usb_cam.h
    src/usb_cam.cpp)

target_link_libraries(${PROJECT_NAME}
      ${avcodec_LIBRARIES}
      ${swscale_LIBRARIES}
      ${catkin_LIBRARIES}
    )

## Build the USB camera library
add_library(hikvision_cam
    include/usb_cam/hikvision_cam.h
    src/hikvision_cam.cpp)

target_link_libraries(hikvision_cam
     ${catkin_LIBRARIES}
     libMvCameraControl.so
    )

## Declare a cpp executable
add_executable(${PROJECT_NAME}_node nodes/usb_cam_node.cpp)
target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${avcodec_LIBRARIES}
  ${swscale_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_executable(Display src/Display.cpp)
target_link_libraries(Display
    ${catkin_LIBRARIES}
    libMvCameraControl.so
    libX11.so
    ${OpenCV_LIBRARIES}
    pthread
    )

add_executable(GrabImage src/GrabImage.cpp)
target_link_libraries(GrabImage
    ${catkin_LIBRARIES}
    libMvCameraControl.so
    ${OpenCV_LIBRARIES}
    pthread
    )

add_executable(hikvision_driver nodes/usb_cam_node.cpp)
target_link_libraries(hikvision_driver
    ${catkin_LIBRARIES}
    libMvCameraControl.so
    hikvision_cam
    )

#############
## Install ##
#############

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

## Copy launch files
install(DIRECTORY launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
    FILES_MATCHING PATTERN "*.launch"
    )

install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
    )