ceres-solver集成到应用hap
本库是在RK3568开发板上基于OpenHarmony3.2 Release版本的镜像验证的，如果是从未使用过RK3568，可以先查看润和RK3568开发板标准系统快速上手。
开发环境
编译三方库
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下载本仓库
git clone https://gitee.com/openharmony-sig/tpc_c_cplusplus.git --depth=1 -
三方库目录结构
tpc_c_cplusplus/thirdparty/ceres-solver #三方库ceres-solver的目录结构如下 ├── docs #三方库相关文档的文件夹 ├── HPKBUILD #构建脚本 ├── HPKCHECK #自动化测试脚本 ├── OAT.xml #OAT开源审查文本 ├── README.OpenSource #说明三方库源码的下载地址，版本，license等信息 ├── README_zh.md #三方库说明文档 └── SHA512SUM #校验文档 -
进入lycium目录下
cd tpc_c_cplusplus/lycium -
在lycium目录下编译三方库 ceres-solver库依赖库有eigen、gflags、glog、googletest和METIS(依赖GKlib)会在本仓自动编译，所以在build时只需要编译ceres-solver库 编译环境的搭建参考准备三方库构建环境
./build.sh ceres-solver -
三方库头文件及生成的库 在lycium目录下会生成usr目录，该目录下存在已编译完成的32位和64位三方库
ceres-solver/arm64-v8a ceres-solver/armeabi-v7a eigen/arm64-v8a eigen/armeabi-v7a gflags/arm64-v8a gflags/armeabi-v7a glog/arm64-v8a glog/armeabi-v7a googletest/arm64-v8a googletest/armeabi-v7a METIS/arm64-v8a METIS/armeabi-v7a GKlib/arm64-v8a GKlib/armeabi-v7a
应用中使用三方库
- 在IDE的cpp目录下新增thirdparty目录，将编译生成的库拷贝到该目录下，如下图所示
- 在entry/src/main/cpp目录下的CMakeLists.txt中添加如下语句
#将三方库加入工程中 target_link_libraries(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ceres-solver/${OHOS_ARCH}/lib/libceres.a) target_link_libraries(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/gflags/${OHOS_ARCH}/lib/libgflags_nothreads.a ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/gflags/${OHOS_ARCH}/lib/libgflags.a) target_link_libraries(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/GKlib/${OHOS_ARCH}/lib/libGKlib.a) target_link_libraries(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/lib/libgmock_main.a ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/lib/libgmock.a ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/lib/libgtest_main.a ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/lib/libgtest.a) target_link_libraries(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/METIS/${OHOS_ARCH}/lib/libmetis.a) target_link_libraries(entry PRIVATE -L${CMAKE_CURRENT_SOURCE_DIR}/../../../libs/glog/${OHOS_ARCH}/libglog.so.1) #将三方库的头文件加入工程中 target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ceres-solver/${OHOS_ARCH}/include/ceres ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ceres-solver/${OHOS_ARCH}/include/ceres/internal) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/eigen/${OHOS_ARCH}/include/eigen3) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/gflags/${OHOS_ARCH}/include/gflags) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/GKlib/${OHOS_ARCH}/include) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/${OHOS_ARCH}/include/glog) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gmock ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gmock/internal ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gmock/internal/custom ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gtest ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gtest/internal ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/googletest/${OHOS_ARCH}/include/gtest/internal/custom) target_include_directories(entry PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/METIS/${OHOS_ARCH}/include)
测试三方库
三方库的测试使用原库自带的测试用例来做测试，准备三方库测试环境
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将编译生成的可执行文件及生成的动态库准备好
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将准备好的文件推送到开发板，进入到构建的目录thirdparty/ceres-solver/ceres-solver-2.1.0/arm64-v8a-build(64位)下执行ctest
