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https://gitee.com/cv_team/uestc-careye.git
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94 lines
3.5 KiB
CMake
94 lines
3.5 KiB
CMake
project(RoboCar)
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message(STATUS "Author:Pulsar-V")
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message(STATUS "Version:1.0.1")
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cmake_minimum_required(VERSION 3.0)
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if (CMAKE_SYSTEM_NAME MATCHES "Windows")
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set(TORCH_ROOT "E:/packages/libtorch-win-shared-with-deps-1.7.1+cu101/libtorch/share/cmake/Torch")
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set(BOOST_ROOT "F:/PCL 1.10.0/3rdParty/Boost")
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set(Boost_INCLUDE_DIR "F:/PCL 1.10.0/3rdParty/Boost/include/boost-1_72")
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#TODO:OpenCV的位置
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set(OpenCV_DIR E:/packages/opencv-4.5.1/build)
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set(PCL_DIR "F:/PCL 1.10.0/cmake")
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set(PCL_ROOT "F:/PCL 1.10.0")
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set(PYTHON_INCLUDE_DIR "D:/Python36/include")
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set(PYTHON_LIBRARY_DIR "D:/Python36/libs")
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add_definitions(-D _WIN32)
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elseif (CMAKE_SYSTEM_NAME MATCHES "Linux")
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add_definitions(-D __linux__)
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set(THIRD_PACKAGES_DIR /home/pulsar/workspace/packages)
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set(OPENVINO_DIR /opt/intel//openvino_2021.2.185)
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set(OpenCV_DIR ${OPENVINO_DIR}/opencv/cmake)
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set(TBB_DIR ${OPENVINO_DIR}/deployment_tools/inference_engine/external/tbb/cmake)
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set(InferenceEngine_DIR ${OPENVINO_DIR}/deployment_tools/inference_engine/share)
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set(realsense2_DIR ${THIRD_PACKAGES_DIR}/librealsense/lib/cmake/realsense2)
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set(Ceres_DIR ${THIRD_PACKAGES_DIR}/ceres-solver/lib/cmake/Ceres)
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set(absl_DIR ${THIRD_PACKAGES_DIR}/abseil-cpp/lib/cmake/absl)
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set(cartographer_DIR ${THIRD_PACKAGES_DIR}/cartographer/share/cartographer)
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endif ()
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message(STATUS "Boost_COMPILER:${Boost_COMPILER}")
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option(WITH_CONTROL_CENTER "Build Robot Control Center" ON)
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set(BOOST_ROOT)
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#TODO:是否编译OPENVINO
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option(WITH_OPENVINO "Build With OpenVino" OFF)
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#TODO:是否编译TBB
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option(WITH_TBB "Build With TBB" ON)
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set(WITH_TBB ON)
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#TODO:是否编译CARTOGRAPHER
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option(WITH_CARTOGRAPHER "Build With CARTOGRAPHER" ON)
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#TODO:是否编译REALSENSE
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option(WITH_LIBREALSENCE2 "Build With Librealsence" ON)
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set(WITH_LIBREALSENCE2 ON)
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#TODO:编译测试
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option(RC_TEST "Build With test" ON)
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#有OpenVino一定有TBB
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if (${WITH_OPENVINO} STREQUAL "ON")
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set(WITH_TBB ON)
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endif ()
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#TODO:开启下位控制器模式
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#add_definitions(-D USE_DSP_DEVICE)
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include(CheckCXXCompilerFlag)
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set(CMAKE_CXX_STANDARD 17)
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set(ENV_CMAKE_FILES_PATH ${PROJECT_SOURCE_DIR}/cmake)
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set(RC_CLIENT_CMAKE_FILES_PATH ${PROJECT_SOURCE_DIR}/robot_client/cmake)
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set(RC_SOURCE_DIR ${PROJECT_SOURCE_DIR})
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set(RC_BINARY_DIR ${PROJECT_BINARY_DIR})
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
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set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
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set(OpenGL_GL_PREFERENCE GLVND)
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set(BUILD_EXAMPLES OFF)
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set(ROBOCAR_APPLICATION_DIR ${PROJECT_SOURCE_DIR}/tools)
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set(ROBOCAR_APPLICATION_NAME
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cleargpio
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robocar
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)
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set(RC_RESOURCE_DIR ${PROJECT_SOURCE_DIR}/resource)
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set(RC_CLIENT_SOURCES_DIR ${PROJECT_SOURCE_DIR}/robot_client/sources)
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set(RC_CLIENT_DIR ${PROJECT_SOURCE_DIR}/robot_client)
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set(RC_CLIENT_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/robot_client/include)
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set(ENV_CMAKE_FILES_PATH ${PROJECT_SOURCE_DIR}/cmake)
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set(CMAKE_FILES_PATH ${PROJECT_SOURCE_DIR}/src/cmake)
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include_directories(${PROJECT_SOURCE_DIR}/3rdparty/pistache/subprojects/hinnant-date/include)
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include_directories(${PROJECT_SOURCE_DIR}/3rdparty/pistache/subprojects/cpp-httplib/include)
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add_subdirectory(${PROJECT_SOURCE_DIR}/3rdparty/pistache)
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add_subdirectory(${PROJECT_SOURCE_DIR}/3rdparty/libserv)
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add_subdirectory(${PROJECT_SOURCE_DIR}/3rdparty/websocketpp)
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add_subdirectory(robot_client)
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add_subdirectory(plugins)
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add_subdirectory(test)
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add_subdirectory(tools)
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if (${WITH_CONTROL_CENTER} STREQUAL "OFF")
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add_subdirectory(robot_center)
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endif ()
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