Vzense-Tof-3D/CMakeLists.txt

set(SON_PROJECT_NAME tof3d)

set(CMAKE_CUDA_ARCHITECTURES 60 61 62 70 72 75 86)
set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
project(${SON_PROJECT_NAME} LANGUAGES CXX CUDA)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -O3")
set(CMAKE_CXX_STANDARD 17)
#set(CMAKE_BUILD_TYPE Release)
option(CUDA_USE_STATIC_CUDA_RUNTIME OFF)

# CUDA
find_package(CUDA REQUIRED)
message(STATUS "CUDA Libs: \n${CUDA_LIBRARIES}\n")
get_filename_component(CUDA_LIB_DIR ${CUDA_LIBRARIES} DIRECTORY)
message(STATUS "CUDA Headers: \n${CUDA_INCLUDE_DIRS}\n")

# OpenCV
find_package(OpenCV REQUIRED)
message(STATUS "OpenCV Libs: \n${OpenCV_LIBS}\n")
message(STATUS "OpenCV Libraries: \n${OpenCV_LIBRARIES}\n")
message(STATUS "OpenCV Headers: \n${OpenCV_INCLUDE_DIRS}\n")

# TensorRT
set(TensorRT_INCLUDE_DIRS /usr/include/aarch64-linux-gnu)
set(TensorRT_LIBRARIES /usr/lib/aarch64-linux-gnu)
message(STATUS "TensorRT Libs: \n${TensorRT_LIBRARIES}\n")
message(STATUS "TensorRT Headers: \n${TensorRT_INCLUDE_DIRS}\n")

list(APPEND INCLUDE_DIRS
        ${CUDA_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${TensorRT_INCLUDE_DIRS}
        include
)

list(APPEND ALL_LIBS
        ${CUDA_LIBRARIES}
        ${CUDA_LIB_DIR}
        ${TensorRT_LIBRARIES}
)

message("========== Load son project ${SON_PROJECT_NAME} ==========" )
option(OPTION_COMMUNICATION_WITH_PLC "plc通信" OFF)
message("<=${SON_PROJECT_NAME}=> OPTION_COMMUNICATION_WITH_PLC: " ${OPTION_COMMUNICATION_WITH_PLC})

# if(NOT ENABLE_LIBRARY_PCL)
#     message(FATAL_ERROR "ENABLE_LIBRARY_PCL OFF")
# endif ()

if (NOT ENABLE_LIBRARY_GOOGLE_LOG)
    message(FATAL_ERROR "ENABLE_LIBRARY_GOOGLE_LOG OFF")
endif ()

# if (NOT ENABLE_LIBRARY_JSON)
#     message(FATAL_ERROR "ENABLE_LIBRARY_JSON OFF")
# endif ()

# if (NOT ENABLE_LIBRARY_THREAD)
#     message(FATAL_ERROR "Not enable ENABLE_LIBRARY_THREAD")
# endif ()

# 获取系统架构
message("SYSTEM: ${CMAKE_SYSTEM_PROCESSOR}")

if (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
        set(NebulaSDK_PATH "${CMAKE_CURRENT_LIST_DIR}/NebulaSDK/AArch64")
endif()
message("NebulaSDK_PATH: ${NebulaSDK_PATH}")

include_directories(
        ${INCLUDE_DIRS}
        ${CMAKE_CURRENT_LIST_DIR}
        ${PCL_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${PROTOBUF_INCLUDE_DIR}
        ${NebulaSDK_PATH}/include
)

aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/communication communication)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/vzense vzense)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/detect detect)

set(SON_PROJECT_SOURCE_LIST ${SON_PROJECT_SOURCE_LIST}
        ${communication}
        ${vzense}
        ${detect}
        ${CMAKE_CURRENT_LIST_DIR}/tof3d_manager.h
        ${CMAKE_CURRENT_LIST_DIR}/tof3d_manager.cpp
        ${CMAKE_CURRENT_LIST_DIR}/tof3d_config.pb.h
        ${CMAKE_CURRENT_LIST_DIR}/tof3d_config.pb.cc
        ${CMAKE_CURRENT_LIST_DIR}/tof3DMain.cpp
)

set(SON_PROJECT_DEPEND_LIST ${SON_PROJECT_DEPEND_LIST}
        liblog
        libthread
        librabbitmq
        libmessage
        ${NebulaSDK_PATH}/lib/libNebula_api.so
        ${PROTOBUF_LIBRARIES}
        ${OpenCV_LIBRARIES}
        nvinfer
        nvinfer_plugin
        ${ALL_LIBS}
)

add_executable(${SON_PROJECT_NAME} ${SON_PROJECT_SOURCE_LIST})
target_link_libraries(${SON_PROJECT_NAME} ${SON_PROJECT_DEPEND_LIST})
target_compile_definitions(${SON_PROJECT_NAME} PRIVATE PROJECT_NAME="${SON_PROJECT_NAME}")

if(${OpenCV_VERSION} VERSION_GREATER_EQUAL 4.7.0)
    message(STATUS "Build with -DBATCHED_NMS")
    add_definitions(-DBATCHED_NMS)
endif()

install(TARGETS ${SON_PROJECT_NAME}
        LIBRARY DESTINATION lib  # 动态库安装路径
        ARCHIVE DESTINATION lib  # 静态库安装路径
        RUNTIME DESTINATION bin  # 可执行文件安装路径
        PUBLIC_HEADER DESTINATION include  # 头文件安装路径
)