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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(yolov5)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
enable_language(CUDA)
set(CMAKE_CXX_COMPILIER "/usr/bin/g++")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -Wno-write-strings")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-rpath -Wl,$ORIGIN")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
geometry_msgs
tf2
tf2_geometry_msgs
tf2_ros
message_generation
)
find_package(CUDA REQUIRED)
find_package(OpenCV REQUIRED)
find_package(realsense2 REQUIRED)
find_package(lcm REQUIRED)
file(GLOB_RECURSE sources modules/*.hpp modules/*.cpp modules/*.h modules/*.cu extra/*.h)
add_library(detector SHARED ${sources})
target_include_directories(detector PRIVATE extra/ modules/ ${OpenCV_INCLUDE_DIRS} ${CUDA_TOOLKIT_ROOT_DIR}/include)
target_link_libraries(detector nvinfer nvinfer_plugin nvparsers "stdc++fs")
include_directories(/home/nvidia/dev/IARC_ws/src/yolov5-tensorrt-ros/lcm_type/coordinate/)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Target.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
# LIBRARIES yolov5
CATKIN_DEPENDS roscpp std_msgs message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
./include/
${catkin_INCLUDE_DIRS}
)
include_directories( ${realsense2_INCLUDE_DIRS})
## Declare a C++ library
add_library(${PROJECT_NAME}
include/filter.h
src/filter.cpp
)
add_executable(yolov5_mono src/sample_detector.cpp)
add_executable(yolov5_d435i src/d435i.cpp)
add_dependencies(yolov5_mono ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(yolov5_d435i ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_include_directories(yolov5_mono PRIVATE modules/ extra/ include/)
target_include_directories(yolov5_d435i PRIVATE modules/ extra/ include/)
target_link_libraries(yolov5_mono
${catkin_LIBRARIES} detector ${OpenCV_LIBS} lcm
)
target_link_libraries(yolov5_d435i ${catkin_LIBRARIES} detector lcm ${OpenCV_LIBS} ${realsense2_LIBRARY})