89 lines
2.2 KiB
CMake
89 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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cmake_policy(SET CMP0074 NEW)
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project(rslidar_pointcloud_merger)
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# 1. 默认开启 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_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
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add_compile_options(-w) # 禁用所有警告
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endif()
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# 检查是否启用GPU加速
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option(USE_GPU "Enable GPU acceleration (requires CUDA)" ON)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_sensor_msgs REQUIRED)
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find_package(PCL REQUIRED COMPONENTS common io segmentation filters)
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find_package(mc REQUIRED)
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find_package(logger REQUIRED)
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# GPU加速相关配置
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if(USE_GPU)
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message(STATUS "GPU acceleration enabled")
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enable_language(CUDA)
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# 设置CUDA架构（Orin使用sm_87）
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set(CMAKE_CUDA_ARCHITECTURES "87")
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# 查找CUDA
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find_package(CUDAToolkit QUIET)
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if(CUDAToolkit_FOUND)
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message(STATUS "CUDAToolkit found: ${CUDAToolkit_VERSION}")
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add_definitions(-DUSE_GPU)
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include_directories(${CUDAToolkit_INCLUDE_DIRS})
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else()
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message(WARNING "CUDAToolkit not found, GPU acceleration disabled")
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set(USE_GPU OFF)
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endif()
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endif()
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include_directories(include ${PCL_INCLUDE_DIRS})
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# 源文件列表
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set(SOURCES src/merge_two_lidars.cpp)
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# 如果启用GPU，添加GPU源文件
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if(USE_GPU)
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list(APPEND SOURCES src/gpu_processing.cu)
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endif()
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add_executable(merge_two_lidars ${SOURCES})
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ament_target_dependencies(
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merge_two_lidars
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rclcpp
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sensor_msgs
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pcl_conversions
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pcl_ros
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tf2
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tf2_ros
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tf2_sensor_msgs
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mc
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logger)
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target_link_libraries(merge_two_lidars ${PCL_LIBRARIES})
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# GPU加速链接库
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if(USE_GPU)
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target_link_libraries(merge_two_lidars CUDA::cudart)
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if(CUDAToolkit_VERSION VERSION_GREATER_EQUAL 11.0)
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target_compile_features(merge_two_lidars PRIVATE cuda_std_17)
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else()
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target_compile_features(merge_two_lidars PRIVATE cuda_std_14)
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endif()
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endif()
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install(TARGETS merge_two_lidars DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
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ament_package()
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