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CMakeLists.txt
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CMakeLists.txt
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# Copyright (C) 2019 Christian Berger
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
cmake_minimum_required(VERSION 3.2)
project(lynx_perception)
################################################################################
# Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set-v0.9.10.odvd)
set(CFSD_EXTENDED_MESSAGE_SET cfsd-extended-message-set-v0.0.1.odvd)
set(CLUON_COMPLETE cluon-complete-v0.0.121.hpp)
################################################################################
# Set the search path for .cmake files.
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH})
################################################################################
# This project requires C++14 or newer.
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Build a static binary.
set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
# Add further warning levels.
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
-D_XOPEN_SOURCE=700 \
-D_FORTIFY_SOURCE=2 \
-DHAVE_JPEG \
-O2 \
-fstack-protector \
-fomit-frame-pointer \
-pipe \
-Weffc++ \
-Wall -Wextra -Wshadow -Wdeprecated \
-Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
-Wuninitialized -Wunreachable-code \
-Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
-Wunused-value -Wunused-variable -Wunused-result \
-Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
################################################################################
# Create symbolic link to cluon-complete.hpp.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-complete.hpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE})
# Add current build directory as include directory as it contains generated files.
include_directories(SYSTEM ${CMAKE_BINARY_DIR})
################################################################################
# Extract cluon-msc from cluon-complete.hpp.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp
COMMAND ${CMAKE_CXX_COMPILER} -o ${CMAKE_BINARY_DIR}/cluon-msc ${CMAKE_BINARY_DIR}/cluon-complete.cpp -std=c++14 -pthread -D HAVE_CLUON_MSC
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE})
################################################################################
# Generate opendlv-standard-message-set.hpp from ${OPENDLV_STANDARD_MESSAGE_SET} file.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
# Generate cfsd-extended-message-set.hpp from ${CFSD_EXTENDED_MESSAGE_SET} file.
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cfsd-extended-message-set.hpp
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp --out=${CMAKE_BINARY_DIR}/cfsd-extended-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${CFSD_EXTENDED_MESSAGE_SET}
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CFSD_EXTENDED_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
# Add current build directory as include directory as it contains generated files.
include_directories(SYSTEM ${CMAKE_BINARY_DIR})
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
################################################################################
# Threads are necessary for linking the resulting binaries as UDPReceiver is running in parallel.
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
set(LIBRARIES Threads::Threads)
if(UNIX)
if(NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Darwin")
find_package(LibRT REQUIRED)
set(LIBRARIES ${LIBRARIES} ${LIBRT_LIBRARIES})
include_directories(SYSTEM ${LIBRT_INCLUDE_DIR})
endif()
endif()
################################################################################
find_package(OpenCV REQUIRED core highgui imgproc)
include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
set(LIBRARIES ${LIBRARIES} ${OpenCV_LIBS})
################################################################################
# Link cone detection Library
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/darknet/include)
link_directories(${CMAKE_CURRENT_SOURCE_DIR}/darknet)
set(LIBRARIES ${LIBRARIES} formula darknet)
################################################################################
# Find ZED camera libs
find_package(ZED 2 REQUIRED)
include_directories(${ZED_INCLUDE_DIRS})
link_directories(${ZED_LIBRARY_DIR})
set(LIBRARIES ${LIBRARIES} ${ZED_LIBS})
################################################################################
# Find CUDA
find_package(CUDA ${ZED_CUDA_VERSION} EXACT REQUIRED)
include_directories(${CUDA_INCLUDE_DIRS})
link_directories(${CUDA_LIBRARY_DIRS})
set(LIBRARIES ${LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_CUDART_LIBRARY})
################################################################################
# Create executable.
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/lynx_birdView.cpp ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_BINARY_DIR}/cfsd-extended-message-set.hpp)
target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
################################################################################
# Install executable.
install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})