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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(lidar_detection_track)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")
# # Debug
# SET(CMAKE_BUILD_TYPE "Debug")
# SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
# SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# find_package(CUDA REQUIRED)
find_package(catkin REQUIRED COMPONENTS
autoware_msgs
geometry_msgs
jsk_rviz_plugins
pcl_ros
roscpp
rospy
std_msgs
roslint
)
catkin_package(
INCLUDE_DIRS
LIBRARIES lidar_detect
CATKIN_DEPENDS roscpp rospy std_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
# ${CUDA_INCLUDE_DIRS}
)
# 必须加上
#file(GLOB TENSORRT_LIBS lib/detection/point_pillars/TensorRT-7.2.3.4/lib/*.so)
# 添加子目录并构建
add_subdirectory(lib/pre_process/roi_clip)
add_subdirectory(lib/pre_process/voxel_grid_filter)
add_subdirectory(lib/cluster/euclideanCluster)
add_subdirectory(lib/bounding_box)
add_subdirectory(lib/ground_detector/patchwork)
# add_subdirectory(lib/detection/point_pillars)
add_subdirectory(lib/visualization)
# add_subdirectory(lib/cluster/cluster_c)
# 生成可执行文件,ros启动就不要改默认路径
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ../) # 设置可执行目标文件的输出目录
# cuda_add_executable(${PROJECT_NAME}_node src/lidar_detection_track_node.cpp src/lidar_detection_track.cpp )
add_executable(${PROJECT_NAME}_node src/lidar_detection_track_node.cpp src/lidar_detection_track.cpp )
# set_target_properties(${PROJECT_NAME}_node PROPERTIES CUDA_ARCHITECTURES "35;50;72;86")
target_link_libraries(${PROJECT_NAME}_node
${OpenCV_LIBRARIES}
${catkin_LIBRARIES}
${PCL_LIBRARIES}
# ${CUDA_LIBRARIES}
roi_clip
voxel_grid_filter
euclideanCluster
bounding_box
patchwork
visualization
# point_pillars
${TENSORRT_LIBS}
)
# 在PRIVATE后面的库仅被link到你的target中，并且终结掉，第三方不能感知你掉了啥库
# 在public后面的库会被link到你的target中，并且里面的符号也会被导入出，提供给给三方使用
# INTERFACE 在interface后面引入的库不会被链接到target中，只会导出符号
# cuda_add_executable(${PROJECT_NAME}_node src/lidar_euclidean_cluster_detect.cpp)
# set_target_properties(${PROJECT_NAME}_node PROPERTIES CUDA_ARCHITECTURES "35;50;72;86")
# target_link_libraries(${PROJECT_NAME}_node PRIVATE ${CUDA_LIBRARIES})
# target_link_libraries(${PROJECT_NAME}_node PRIVATE ${DETECT_LIB_NAME})
# target_link_libraries(${PROJECT_NAME}_node PRIVATE ${TENSORRT_LIBS})
# target_link_libraries(${PROJECT_NAME}_node PRIVATE ${catkin_LIBRARIES})
# target_link_libraries(${PROJECT_NAME}_node PRIVATE cluster)
# target_link_libraries(${PROJECT_NAME}_node PRIVATE preprocess)
# target_link_libraries(${PROJECT_NAME}_node PRIVATE detect_point_pillars)
# target_link_libraries(${PROJECT_NAME}_node PRIVATE visualization)