cmake_minimum_required(VERSION 3.8.11) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(CMAKE_CXX_STANDARD 14) PROJECT(SDKTool) set(VERSION_MAJOR 2) set(VERSION_MINOR 0) set(VERSION_TINY 5) configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/Version.h.in" "${CMAKE_CURRENT_BINARY_DIR}/Version.h" ) cmake_policy(SET CMP0053 NEW) set(CMAKE_BUILD_TYPE ON) set(CMAKE_BUILD_TYPE Release) add_definitions(-O3) add_compile_options(-Wall) # 设置生成平台为 x64 if(_MSC_VER) set(CMAKE_GENERATOR_PLATFORM x64) set(OPENSSL_ROOT_DIR "C:/Program Files/OpenSSL-Win64") endif() include_directories("${PROJECT_BINARY_DIR}") find_package(Boost REQUIRED COMPONENTS system filesystem thread) find_package(OpenSSL REQUIRED) add_definitions(-DQT_MESSAGELOGCONTEXT) add_subdirectory(../libhesai lbhesai.out) # set (Boost_INCLUDE_DIRS "/usr/lib/x86_64-linux-gnu/") include_directories( ../libhesai ../libhesai/Lidar ../libhesai/UdpParser ../libhesai/UdpParser/include ../libhesai/UdpParser/src ../libhesai/UdpProtocol ../libhesai/Source/include ../libhesai/Container/include ../libhesai/Container/src ../libhesai/UdpParserGpu ../libhesai/UdpParserGpu/include ../libhesai/UdpParserGpu/src ../libhesai/PtcClient/include ../libhesai/PtcParser ../libhesai/PtcParser/src ../libhesai/PtcParser/include ../libhesai/Logger/include ../libhesai/include ../driver ../third_party ${Boost_INCLUDE_DIRS} ${OPENSSL_INCLUDE_DIR} ) link_directories(../libhesai/PtcClient/lib) link_directories(${Boost_LIBRARY_DIRS}) add_executable(packet_loss_tool ./packet_loss_tool.cc ) target_link_libraries(packet_loss_tool ${Boost_LIBRARIES} source_lib container_lib ptcClient_lib log_lib ptcParser_lib ${OPENSSL_LIBRARIES} ) find_package(PCL COMPONENTS common visualization io QUIET REQUIRED) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_executable(pcl_tool ./pcl_tool.cc ) target_link_libraries(pcl_tool ${Boost_LIBRARIES} source_lib container_lib ptcClient_lib ptcParser_lib log_lib ${PCL_LIBRARIES} ${OPENSSL_LIBRARIES} ) find_package(CUDA ) if(${CUDA_FOUND}) set(CUDA_SOURCE_PROPERTY_FORMAT OBJ) set(CUDA_SEPARABLE_COMPILATION ON) include_directories(${CUDA_INCLUDE_DIRS}) set(CUDA_PROPAGATE_HOST_FLAGS OFF) set(CUDA_NVCC_FLAGS -arch=sm_61;-O3;-G;-g;-std=c++14)#根据具体GPU性能更改算力参数 link_directories($ENV{CUDA_PATH}/lib/x64) file(GLOB_RECURSE CURRENT_HEADERS ../*.h ../*.hpp ../*.cuh) file(GLOB CURRENT_SOURCES ../*.cpp ../*.cu) source_group("Include" FILES ${CURRENT_HEADERS}) source_group("Source" FILES ${CURRENT_SOURCES}) CUDA_ADD_EXECUTABLE(pcl_tool_gpu ${CURRENT_HEADERS} ${CURRENT_SOURCES} ./pcl_tool.cu ../libhesai/UdpParserGpu/src/buffer.cu ) target_link_libraries(pcl_tool_gpu ${Boost_LIBRARIES} source_lib container_lib ptcClient_lib log_lib ptcParser_lib ${OPENSSL_LIBRARIES} ${PCL_LIBRARIES} ) else(${CUDA_FOUND}) MESSAGE(STATUS "cuda not found!") endif(${CUDA_FOUND})