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Add USBCANFD transport and visualize 0x391 door feedback

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zmv
2026-09-24 15:41:49 +08:00
parent 475fe2440b
commit 515a9f32d8
37 changed files with 1074 additions and 13 deletions
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CMakeLists.txt
+9 -1
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@@ -13,11 +13,19 @@ find_path(TENSORRT_INCLUDE_DIR NvInfer.h PATH_SUFFIXES aarch64-linux-gnu x86_64-
find_library(TENSORRT_LIBRARY nvinfer REQUIRED)
add_library(camera_risk_core
src/trt_engine.cpp src/pose_engine.cu src/gpu_preprocess.cu src/uyvy_converter.cu
src/detector.cpp src/door_risk.cpp src/camera.cpp src/camera_pipeline.cpp src/inference_session.cpp src/serialization.cpp src/output_writer.cpp src/result_renderer.cpp src/config.cpp)
src/can_bus.cpp src/detector.cpp src/door_risk.cpp src/camera.cpp src/camera_pipeline.cpp src/inference_session.cpp src/serialization.cpp src/output_writer.cpp src/result_renderer.cpp src/config.cpp)
target_include_directories(camera_risk_core PUBLIC include third_party ${TENSORRT_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
target_link_libraries(camera_risk_core PUBLIC ${TENSORRT_LIBRARY} ${OpenCV_LIBS} Threads::Threads CUDA::cudart CUDA::nppc CUDA::nppig CUDA::nppidei CUDA::nppicc)
target_include_directories(camera_risk_core SYSTEM PRIVATE third_party/zlg)
target_compile_options(camera_risk_core PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wall;-Wextra;-Wpedantic>)
add_library(camera_risk_visualizer src/visualizer.cpp)
target_link_libraries(camera_risk_visualizer PUBLIC camera_risk_core)
add_executable(camera_risk src/main.cpp)
target_link_libraries(camera_risk PRIVATE camera_risk_visualizer)
# Reference USBCANFD SDK is shipped with the standalone Orin package.
target_link_libraries(camera_risk_core PUBLIC "${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so"
"-Wl,--no-as-needed" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so" "-Wl,--as-needed")
set_target_properties(camera_risk PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")
# Keep the bundled SDK/libusb pair together even with a desktop LD_LIBRARY_PATH.
target_link_options(camera_risk PRIVATE "-Wl,--disable-new-dtags")