add wust typr mpc and mutipule x
This commit is contained in:
cyy_mac
160
wust_vision-main/CMakeLists.txt
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160
wust_vision-main/CMakeLists.txt
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cmake_minimum_required(VERSION 3.14)
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cmake_policy(SET CMP0072 NEW)
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project(wust_vision LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
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set(CMAKE_BUILD_TYPE "Release")
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message(STATUS "--------------------CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}--------------------")
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option(BUILD_WITH_TRT "Enable TensorRT backend" ON)
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option(BUILD_WITH_OPENVINO "Enable OpenVINO backend" ON)
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option(BUILD_WITH_NCNN "Enable NCNN backend" OFF)
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option(BUILD_WITH_ORT "Enable ORT backend" ON)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake)
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file(GLOB_RECURSE SOURCES CONFIGURE_DEPENDS tasks/*.cpp)
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# list(FILTER SOURCES EXCLUDE REGEX "tasks/auto_guidance/.*")
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# list(FILTER SOURCES EXCLUDE REGEX "tasks/auto_sniper/.*")
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find_package(OpenCV REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(fmt REQUIRED)
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find_package(yaml-cpp REQUIRED)
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find_package(Ceres REQUIRED)
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find_package(HikSDK REQUIRED)
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find_package(wust_vl REQUIRED)
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set(BUILD_DEFINITIONS "")
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set(BUILD_LIBS "")
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if(BUILD_WITH_OPENVINO)
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find_package(OpenVINO REQUIRED COMPONENTS Runtime ONNX)
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list(APPEND BUILD_DEFINITIONS USE_OPENVINO)
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list(APPEND BUILD_LIBS openvino::runtime openvino::frontend::onnx)
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endif()
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if(BUILD_WITH_TRT)
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find_package(CUDAToolkit REQUIRED)
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set(CMAKE_PREFIX_PATH "${CMAKE_PREFIX_PATH};/home/hy/TensorRT-10.6.0.26")
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find_package(TensorRT REQUIRED)
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include_directories(${TensorRT_INCLUDE_DIR})
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include_directories(/usr/local/cuda/include)
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set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
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set(CMAKE_CUDA_ARCHITECTURES 86)
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enable_language(CUDA)
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set(CMAKE_CUDA_STANDARD 14)
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set(CMAKE_CUDA_STANDARD_REQUIRED ON)
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set(CMAKE_CUDA_COMPILER_LAUNCHER ccache)
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add_subdirectory(${CMAKE_SOURCE_DIR}/cuda_infer ${CMAKE_BINARY_DIR}/cuda_infer_build)
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list(APPEND BUILD_DEFINITIONS USE_TRT)
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list(APPEND BUILD_LIBS TensorRT::TensorRT TensorRT::nvonnxparser CUDA::cudart cuda_infer)
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endif()
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if(BUILD_WITH_NCNN)
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find_package(ncnn REQUIRED)
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list(APPEND BUILD_DEFINITIONS USE_NCNN)
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list(APPEND BUILD_LIBS ncnn)
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endif()
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if(BUILD_WITH_ORT)
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set(ort_root_path "/home/hy/onnxruntime-linux-x64-gpu-1.22.0")
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find_package(Ort REQUIRED)
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include_directories(${Ort_INCLUDE_DIR})
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list(APPEND BUILD_DEFINITIONS USE_ORT)
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list(APPEND BUILD_LIBS ${Ort_LIB})
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endif()
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add_library(${PROJECT_NAME} SHARED ${SOURCES})
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target_compile_definitions(${PROJECT_NAME} PUBLIC ${BUILD_DEFINITIONS})
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target_include_directories(${PROJECT_NAME} PUBLIC
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${PROJECT_SOURCE_DIR}
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${OpenCV_INCLUDE_DIRS}
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)
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target_link_libraries(${PROJECT_NAME}
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wust_vl::wust_vl
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HikSDK::HikSDK
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yaml-cpp
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fmt::fmt
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Eigen3::Eigen
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Ceres::ceres
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${OpenCV_LIBS}
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${BUILD_LIBS}
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)
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set(ROS2_PACKAGES
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ament_cmake
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rosidl_typesupport_cpp
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rclcpp
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geometry_msgs
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tf2_ros
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tf2_geometry_msgs
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sensor_msgs
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visualization_msgs
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sentry_interfaces
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nav_msgs
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)
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function(add_common_executable exe_name src_file)
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add_executable(${exe_name} ${src_file})
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target_link_libraries(${exe_name} ${PROJECT_NAME})
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endfunction()
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add_common_executable(standard src/standard.cpp)
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# add_common_executable(dart src/dart.cpp)
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add_common_executable(test_usbcamera test/test_usbcamera.cpp)
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foreach(pkg IN LISTS ROS2_PACKAGES)
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find_package(${pkg} QUIET)
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endforeach()
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set(ROS2_FULL_FOUND TRUE)
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foreach(pkg IN LISTS ROS2_PACKAGES)
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if(NOT ${pkg}_FOUND)
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set(ROS2_FULL_FOUND FALSE)
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message(WARNING "ROS2 package ${pkg} not found")
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endif()
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endforeach()
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if(ROS2_FULL_FOUND)
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message(STATUS "ROS2 full environment found, compiling ROS2 targets ...")
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list(APPEND BUILD_DEFINITIONS USE_ROS2)
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set(ROS2_INCLUDES)
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foreach(pkg IN LISTS ROS2_PACKAGES)
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if(TARGET ${pkg}::${pkg})
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list(APPEND ROS2_INCLUDES ${${pkg}_INCLUDE_DIRS})
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endif()
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endforeach()
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include_directories(${ROS2_INCLUDES})
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# find_package(Open3D REQUIRED)
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# target_link_libraries(${PROJECT_NAME}
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# Open3D::Open3D
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# )
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ament_target_dependencies(${PROJECT_NAME} ${ROS2_PACKAGES})
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target_compile_definitions(${PROJECT_NAME} PUBLIC ${BUILD_DEFINITIONS})
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macro(add_ros2_executable exe_name src_file)
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add_executable(${exe_name} ${src_file})
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target_link_libraries(${exe_name} ${PROJECT_NAME} )
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endmacro()
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add_ros2_executable(sentry src/sentry.cpp)
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add_ros2_executable(nav test/nav.cpp)
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else()
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message(WARNING "ROS2 dependencies incomplete, skipping ROS2 targets ...")
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endif()
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