# Vzense-Tof-3D

## 一、环境搭建

### 1、工具准备

```shell
sudo apt install gcc g++ vim curl git
```


### 2、第三方库安装
#### 2.2 cmake

```shell
# 方案一 官网源码安装
curl https://github.com/Kitware/CMake/releases/download/v3.28.0/cmake-3.28.0.tar.gz
# 方案二 公司源码
git clone http://47.108.171.148:10080/LiuZe/env-vzense-tof.git
# 开始编译安装
tar -xvf cmake-3.28.0.tar.gz
cd cmake-3.28.0
./bootstrap
make -jn
sudo make install
```

#### 2.3 grpc、protobuf

```shell
# 方案一 官网源码安装
git clone http://47.108.171.148:10080/LiuZe/env-vzense-tof.git
cd grpc
git submit init
git submit update
# 方案二 公司源码安装
git clone http://47.108.171.148:10080/LiuZe/env-vzense-tof.git
# 开始编译安装
mkdir build
cd build
make -jn

```

#### 2.4 ceres

```shell
# 方案二 公司源码安装
git clone http://47.108.171.148:10080/LiuZe/env-vzense-tof.git
tar -xvf ceres.tar.gz
tar -xvf g-test-flags-log.tar.gz

# gtest
cd google-test
mkdir build
cd build
cmake ..
# gflag
cd gflags
mkdir build
cd build
cmake ..
# glog
cd glog
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=OFF ..
# ceres
cmake ..
```

#### 2.5 rabbitmq-c

```shell
# 方案二 公司源码安装
git clone http://47.108.171.148:10080/LiuZe/env-vzense-tof.git

mkdir build
cd build
cmake ..
make -jn
sudo make install
```

#### 2.5 pcl

```shell
sudo apt install libpcl-dev
```



### 3、代码拷贝

```shell
sudo apt install git librabbitmq-dev
git clone http://47.108.171.148:10080/LiuZe/PublicProjectLibrary.git
cd PublicProjectLibrary
git submit init
git submit update	# etc克隆会比较慢
cd etc
git check -b origin/branch	# branch 分支名
cd ../project/Vzense-Tof-3D
git check -b origin/branch	# branch 分支名
```

### 4、jetson orin nano 配置

```shell
sudo apt update
sudo apt install nvidia-jetpack

# 修改cmakelist project/Vzense_tof_3D目录下CmakeList.txt
# 修改 OPTION_ENABLE_TENSORRT_DETECT_CODE 为 ON
```