19 lines
1.1 KiB
CMake
19 lines
1.1 KiB
CMake
cmake_minimum_required(VERSION 3.24)
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project(vision_anti_pinch_0923 LANGUAGES CXX CUDA)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CUDA_STANDARD 17)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_CUDA_ARCHITECTURES 87)
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find_package(CUDAToolkit REQUIRED)
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find_package(OpenCV REQUIRED COMPONENTS core imgproc)
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find_package(Threads REQUIRED)
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find_path(TRT_INCLUDE NvInfer.h PATH_SUFFIXES aarch64-linux-gnu REQUIRED)
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find_library(TRT_LIB nvinfer REQUIRED)
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add_library(vision_native SHARED native/native_api.cpp native/v4l2_capture.cpp native/can_comm.cpp
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native/trt_engine.cpp native/pose_engine.cu
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native/gpu_preprocess.cu native/uyvy_converter.cu native/detector.cpp)
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target_include_directories(vision_native PRIVATE native/include ${TRT_INCLUDE} ${OpenCV_INCLUDE_DIRS})
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target_link_libraries(vision_native PRIVATE ${TRT_LIB} ${OpenCV_LIBS} Threads::Threads CUDA::cudart CUDA::nppc CUDA::nppig CUDA::nppidei CUDA::nppicc
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"${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so")
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set_target_properties(vision_native PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")
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