GSLAM use PICMake for cmake compiling, which is also a seperate open-source project of Yong: https://github.com/zdzhaoyong/PICMake.

PICMake let CMakeList.txt much more easier to write and problem traceable.

Here is a tiny example to compile an excutable binary in one line with dependencies:

cmake_minimum_required(VERSION 2.8)
include(PICMake)
pi_add_target(demo BIN src REQUIRED OpenGL OpenCV Qt Eigen3)
pi_report_target()

PICMake will auto report the informations of dependencies and targets. Here below is the output of cmake command:

build> cmake .. -DCMAKE_BUILD_TYPE=Release
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Found Qt4: /usr/bin/qmake (found version "4.8.7")
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "2.91.0")
------------------------------------------
--OpenGL:
  OPENGL_INCLUDES: /usr/include
  OPENGL_LIBRARIES: /usr/lib/x86_64-linux-gnu/libGLU.so;/usr/lib/x86_64-linux-gnu/libGL.so
  OPENGL_DEFINITIONS: -DHAS_OPENGL
------------------------------------------
--OpenCV: VERSION 2.4.9.1
  OPENCV_INCLUDES: /usr/include/opencv;/usr/include
  OPENCV_LIBRARIES: opencv_videostab;opencv_video;opencv_ts;opencv_superres;opencv_stitching;opencv_photo;opencv_ocl;opencv_objdetect;opencv_ml;opencv_legacy;opencv_imgproc;opencv_highgui;opencv_gpu;opencv_flann;opencv_features2d;opencv_core;opencv_contrib;opencv_calib3d
  OPENCV_DEFINITIONS: -DHAS_OPENCV
------------------------------------------
--Qt: VERSION 4
  QT_INCLUDES: /usr/include/qt4
  QT_LIBRARIES: Qt4::QtCore;Qt4::QtGui;Qt4::QtNetwork;Qt4::QtOpenGL;Qt4::QtSvg;Qt4::QtSql;Qt4::QtXml
  QT_DEFINITIONS: -DHAS_QT
------------------------------------------
--Eigen3: VERSION 3.2.92
  EIGEN3_INCLUDES: /usr/include/eigen3
  EIGEN3_DEFINITIONS: -DHAS_EIGEN3
-- The following targets will to be build:
-- LIBS():
-- APPS():  demo
-- C++ flags (Release):  -O3 -DNDEBUG
-- Configuring done
-- Generating done
-- Build files have been written to: /data/zhaoyong/Desktop/mk/build

More details please see the CMakeLists.txt of GSLAM project or go to the PICMake project.