CMake嵌套库安装后外部项目链接失败及INTERFACE用法咨询

我开发了名为CROSP的项目，包含StrainParameterisation、RodProperties、PolynomialRepresentation三个内部库，这些库均链接至基础库CROSP并安装到/usr/local/目录。但在外部项目中引用CROSP时，编译器提示找不到内部库的.so文件，出现未定义引用等链接错误。

项目结构 #

.
├── cmake
│   ├── cmake_uninstall.cmake.in
│   ├── Config.cmake.in
│   └── installation_module.cmake
├── CMakeLists.txt
└── src
    ├── CMakeLists.txt
    ├── CROSP
    │   └── cosserat_rod.cpp
    ├── include
    │   └── CROSP
    │       ├── CROSP
    │       │   └── cosserat_rod.hpp
    │       ├── polynomial_representation
    │       │   └── polynomial_representation.hpp
    │       ├── rod_properties
    │       │   └── rod_properties.hpp
    │       └── strain_parameterisation
    │           └── strain_parameterisation.hpp
    ├── polynomial_representation
    │   └── polynomial_representation.cpp
    ├── rod_properties
    │   └── rod_properties.cpp
    └── strain_parameterisation
        └── strain_parameterisation.cpp

顶层CMakeLists.txt #

cmake_minimum_required(VERSION 3.22 FATAL_ERROR)

project(CROSP LANGUAGES CXX VERSION 2.0)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED True)

find_package(Eigen3 3.4 NO_MODULE REQUIRED)

#   External utilities to configure the package
include(GNUInstallDirs)
set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
set(LIB_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})

#   Give different names for debug and Release
set(CMAKE_RELEASE_POSTFIX "")
set(CMAKE_DEBUG_POSTFIX "-debug")

add_subdirectory(src)

#   Install the library using the default routine
include(cmake/installation_module.cmake)

installation_module.cmake #

#   Generates ${PROJECT_NAME}Config.cmake file to use our package in other projects
include(CMakePackageConfigHelpers)
configure_package_config_file(
  cmake/Config.cmake.in # input template
  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake # output config file
  INSTALL_DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake # where to put the config file during install
  PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR # paths to be used
  NO_CHECK_REQUIRED_COMPONENTS_MACRO
)

#   Generates a config file to ensure that URL's version is checked when importing it
write_basic_package_version_file(
  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
  VERSION ${PROJECT_VERSION}
  COMPATIBILITY SameMajorVersion
)

#   When running make install, config files should be copied as well
install(
  FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
        ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake
)

#   Add the possibility tu run 'make uninstall' to remove files added via 'make install'
configure_file(
  cmake/cmake_uninstall.cmake.in
  ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
  IMMEDIATE @ONLY
)
add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")

Config.cmake.in #

@PACKAGE_INIT@

set(@PROJECT_NAME@_VERSION @PROJECT_VERSION@)

set_and_check(@PROJECT_NAME@_INCLUDE_DIRS @PACKAGE_INCLUDE_INSTALL_DIR@/@PROJECT_NAME@)
set_and_check(@PROJECT_NAME@_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)
find_library(@PROJECT_NAME@_LIBRARIES NAMES @PROJECT_NAME@ PATHS ${@PROJECT_NAME@_LIBRARY_DIR} NO_DEFAULT_PATH)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(@PROJECT_NAME@ DEFAULT_MSG @PROJECT_NAME@_INCLUDE_DIRS @PROJECT_NAME@_LIBRARIES)

src目录下CMakeLists.txt #

include_directories(include)

add_library(PolynomialRepresentation SHARED
    include/${PROJECT_NAME}/polynomial_representation/polynomial_representation.hpp
    polynomial_representation/polynomial_representation.cpp
)
target_link_libraries(PolynomialRepresentation
    PRIVATE
        Eigen3::Eigen
)
target_compile_options(PolynomialRepresentation
    PRIVATE
        -Wall
        -Wextra
)

add_library(RodProperties SHARED
    include/${PROJECT_NAME}/rod_properties/rod_properties.hpp
    rod_properties/rod_properties.cpp
)
target_link_libraries(RodProperties
    PRIVATE
        Eigen3::Eigen
        PolynomialRepresentation
)
target_compile_options(RodProperties
    PRIVATE
        -Wall
        -Wextra
)

add_library(StrainParameterisation SHARED
        include/${PROJECT_NAME}/strain_parameterisation/strain_parameterisation.hpp
        strain_parameterisation/strain_parameterisation.cpp
)
target_link_libraries(StrainParameterisation
    PRIVATE
        Eigen3::Eigen
        PolynomialRepresentation
)
target_compile_options(RodProperties
    PRIVATE
        -Wall
        -Wextra
)

add_library(${PROJECT_NAME} SHARED
                            include/${PROJECT_NAME}/${PROJECT_NAME}/cosserat_rod.hpp
                            ${PROJECT_NAME}/cosserat_rod.cpp
)
target_link_libraries(${PROJECT_NAME}
    PRIVATE
        Eigen3::Eigen
    PUBLIC
        StrainParameterisation
        RodProperties
        PolynomialRepresentation
)
target_compile_options(RodProperties
    PRIVATE
        -Werror
        -Wall
        -Wextra
)

add_executable(main main.cpp)
target_link_libraries(main ${PROJECT_NAME} Eigen3::Eigen)

install(
    TARGETS
        ${PROJECT_NAME}
    DESTINATION
        ${CMAKE_INSTALL_LIBDIR}
)
install(DIRECTORY include/${PROJECT_NAME}
    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)

外部项目配置示例 #

CMakeLists.txt #

cmake_minimum_required(VERSION 3.5)

project(test_crosp_library LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(CROSP REQUIRED)
find_package(Eigen3 3.4 NO_MODULE REQUIRED)

add_executable(test_crosp_library main.cpp)
target_link_libraries(test_crosp_library
    PUBLIC
        CROSP
        Eigen3::Eigen
)

main.cpp #

#include "CROSP/CROSP/cosserat_rod.hpp"

int main()
{
    ::CROSP::CosseratRod rod;   //  errors
    return 0;
}

错误信息 #

[ 50%] Linking CXX executable test_crosp_library
/usr/bin/ld: warning: libStrainParameterisation.so, needed by /usr/local/lib/libCROSP.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libRodProperties.so, needed by /usr/local/lib/libCROSP.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `LieAlgebra::SE3Pose::getRotationMatrix() const'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::StrainParameterisation(CROSP::polynomial_representation::PolynomialRepresentation, unsigned int)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::StrainParameterisation(CROSP::polynomial_representation::PolynomialRepresentation, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, unsigned int)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::rod_properties::RodProperties::RodProperties(CROSP::polynomial_representation::PolynomialRepresentation)'
/usr/bin/ld: /usr/local/lib/libCROSP.so: undefined reference to `CROSP::strain_parameterisation::StrainParameterisation::updateStacks(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/test_crosp_library.dir/build.make:97: test_crosp_library] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/test_crosp_library.dir/all] Error 2
make: *** [Makefile:91: test_crosp_library] Error 2

额外咨询 #

能否通过INTERFACE功能将内部库以命名空间形式安装，使外部项目可按如下方式引用内部库：

find_package(CROSP REQUIRED)

add_executable(main main.cpp)
target_link_libraries(main 
      CROSP::MaterialProperties
      CROSP::StrainParameterisation
)

内容的提问来源于stack exchange，提问作者Andrea Gotelli