add wust typr mpc and mutipule x

2026-03-27 03:41:42 +08:00
parent 2c64655fae
commit 7dcb53bb77
192 changed files with 29571 additions and 9 deletions
--- a/wust_vision-main/cmake/FindHikSDK.cmake
+++ b/wust_vision-main/cmake/FindHikSDK.cmake
@@ -0,0 +1,147 @@
+# --------------------------------------------------------------------------------------------
+#  FindHikSDK.cmake
+#
+#  This module finds the HikRobot / Hikvision MVS Camera SDK.
+#
+#  It defines the following variables:
+#    HikSDK_FOUND
+#    HikSDK_INCLUDE_DIR
+#    HikSDK_LIB
+#
+#  And the following imported target:
+#    hiksdk
+# --------------------------------------------------------------------------------------------
+
+# =========================
+# 1. SDK 根路径
+# =========================
+if(WIN32)
+  set(HikSDK_Path "$ENV{MVCAM_COMMON_RUNENV}")
+else()
+  set(HikSDK_Path "$ENV{MVCAM_SDK_PATH}")
+endif()
+
+if(NOT HikSDK_Path OR HikSDK_Path STREQUAL "")
+  message(STATUS "HikSDK: MVCAM_SDK_PATH is not set")
+  set(HikSDK_FOUND FALSE)
+  return()
+endif()
+
+# =========================
+# 2. 查找头文件
+# =========================
+find_path(
+  HikSDK_INCLUDE_DIR
+  NAMES
+    MvCameraControl.h
+    CameraParams.h
+    PixelType.h
+    MvErrorDefine.h
+    MvISPErrorDefine.h
+  PATHS
+    "${HikSDK_Path}/include"
+    "${HikSDK_Path}/Includes"
+  NO_DEFAULT_PATH
+)
+
+# =========================
+# 3. 查找库文件（关键修复点）
+# =========================
+if(UNIX)
+  find_library(
+    HikSDK_LIB
+    NAMES
+      MvCameraControl
+      libMvCameraControl.so
+    PATHS
+      "${HikSDK_Path}/lib"
+      "${HikSDK_Path}/lib64"
+      "${HikSDK_Path}/lib/arm"
+      "${HikSDK_Path}/lib/arm64"
+      "${HikSDK_Path}/lib/aarch64"
+      "${HikSDK_Path}/lib/x86"
+      "${HikSDK_Path}/lib/x64"
+      "${HikSDK_Path}/lib/64"
+      "${HikSDK_Path}/lib/32"
+    NO_DEFAULT_PATH
+  )
+endif()
+
+# =========================
+# 4. Windows（完整但不影响 Linux）
+# =========================
+if(WIN32)
+  find_library(
+    HikSDK_LIB
+    NAMES MvCameraControl
+    PATHS
+      "${HikSDK_Path}/Libraries"
+      "${HikSDK_Path}/Libraries/win64"
+      "${HikSDK_Path}/Libraries/win32"
+    NO_DEFAULT_PATH
+  )
+
+  find_file(
+    HikSDK_DLL
+    NAMES MvCameraControl.dll
+    PATHS
+      "${HikSDK_Path}/Runtime"
+      "C:/Program Files (x86)/Common Files/MVS/Runtime"
+    NO_DEFAULT_PATH
+  )
+endif()
+
+# =========================
+# 5. 创建导入库目标
+# =========================
+if(HikSDK_LIB AND HikSDK_INCLUDE_DIR)
+
+  if(NOT TARGET HikSDK::HikSDK)
+
+    add_library(HikSDK::HikSDK SHARED IMPORTED GLOBAL)
+
+    if(WIN32)
+      set_target_properties(HikSDK::HikSDK PROPERTIES
+        IMPORTED_IMPLIB "${HikSDK_LIB}"
+        IMPORTED_LOCATION "${HikSDK_DLL}"
+        INTERFACE_INCLUDE_DIRECTORIES "${HikSDK_INCLUDE_DIR}"
+      )
+    else()
+      set_target_properties(HikSDK::HikSDK PROPERTIES
+        IMPORTED_LOCATION "${HikSDK_LIB}"
+        INTERFACE_INCLUDE_DIRECTORIES "${HikSDK_INCLUDE_DIR}"
+      )
+    endif()
+
+  endif()
+
+endif()
+set(HikSDK_LIBS HikSDK::HikSDK)
+set(HikSDK_INCLUDE_DIRS ${HikSDK_INCLUDE_DIR})
+
+
+# =========================
+# 6. 标准 find_package 处理
+# =========================
+include(FindPackageHandleStandardArgs)
+
+find_package_handle_standard_args(
+  HikSDK
+  REQUIRED_VARS HikSDK_LIB HikSDK_INCLUDE_DIR
+)
+
+# =========================
+# 7. 调试输出（很重要）
+# =========================
+if(HikSDK_FOUND)
+  message(STATUS "HikSDK found:")
+  message(STATUS "  Include dir : ${HikSDK_INCLUDE_DIR}")
+  message(STATUS "  Library     : ${HikSDK_LIB}")
+else()
+  message(STATUS "HikSDK NOT found")
+endif()
+
+set(HikSDK_LIBS hiksdk)
+set(HikSDK_INCLUDE_DIRS ${HikSDK_INCLUDE_DIR})
+
+mark_as_advanced(HikSDK_LIB HikSDK_INCLUDE_DIR HikSDK_DLL)