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Port complete CAN-aware risk pipeline to C++

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zmv
2026-09-23 19:51:56 +08:00
parent 0f609612a6
commit e1e7fbe2fb
81 changed files with 27329 additions and 6381 deletions
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CMakeLists.txt
+18 -12
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@@ -1,18 +1,24 @@
cmake_minimum_required(VERSION 3.24)
project(vision_anti_pinch_0923 LANGUAGES CXX CUDA)
project(vision_anti_pinch LANGUAGES CXX CUDA)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CUDA_STANDARD 17)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_CUDA_ARCHITECTURES 87)
find_package(CUDAToolkit REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core imgproc)
find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs highgui videoio)
find_package(Threads REQUIRED)
find_path(TRT_INCLUDE NvInfer.h PATH_SUFFIXES aarch64-linux-gnu REQUIRED)
find_library(TRT_LIB nvinfer REQUIRED)
add_library(vision_native SHARED native/native_api.cpp native/v4l2_capture.cpp native/can_comm.cpp
native/trt_engine.cpp native/pose_engine.cu
native/gpu_preprocess.cu native/uyvy_converter.cu native/detector.cpp)
target_include_directories(vision_native PRIVATE native/include ${TRT_INCLUDE} ${OpenCV_INCLUDE_DIRS})
target_link_libraries(vision_native PRIVATE ${TRT_LIB} ${OpenCV_LIBS} Threads::Threads CUDA::cudart CUDA::nppc CUDA::nppig CUDA::nppidei CUDA::nppicc
"${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so")
set_target_properties(vision_native PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")
find_path(TENSORRT_INCLUDE_DIR NvInfer.h PATH_SUFFIXES aarch64-linux-gnu REQUIRED)
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/v4l2_capture.cpp src/camera.cpp src/can_comm.cpp src/can_state.cpp
src/door_risk.cpp src/door_zone.cpp src/camera_pipeline.cpp src/config.cpp src/serialization.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} ${OpenCV_LIBS} Threads::Threads CUDA::cudart CUDA::nppc CUDA::nppig CUDA::nppidei CUDA::nppicc
"${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so")
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)
set_target_properties(camera_risk PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")