70 lines
2.0 KiB
CMake
70 lines
2.0 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rpt2d_wrapper_cpp)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rpt_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(OpenCV REQUIRED)
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### 3) ONNX Runtime
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# for desktop
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include_directories(/onnxruntime/include/
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/onnxruntime/include/onnxruntime/core/session/
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/onnxruntime/include/onnxruntime/core/providers/tensorrt/)
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link_directories(/onnxruntime/build/Linux/Release/)
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# for jetson
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include_directories(/usr/local/include/onnxruntime/)
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link_directories(/usr/local/lib/)
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add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
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ament_target_dependencies(rpt2d_wrapper rclcpp sensor_msgs rpt_msgs cv_bridge)
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target_include_directories(rpt2d_wrapper PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(rpt2d_wrapper
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${OpenCV_LIBS}
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onnxruntime_providers_tensorrt
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onnxruntime_providers_shared
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onnxruntime_providers_cuda
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onnxruntime
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)
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set_target_properties(rpt2d_wrapper PROPERTIES
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BUILD_WITH_INSTALL_RPATH TRUE
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INSTALL_RPATH "/onnxruntime/build/Linux/Release"
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)
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install(TARGETS rpt2d_wrapper
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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