modularization/src1/perception/perception_lidar_centerpoint/perception_lidar_centerpoint.pro

QT -= gui

CONFIG += c++17 console
CONFIG -= app_bundle

# The following define makes your compiler emit warnings if you use
# any feature of Qt which as been marked deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS

# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

SOURCES += main.cpp \
    centerpoint_trt.cpp \
    network/network_trt.cpp \
    network/tensorrt_wrapper.cpp \
    preprocess/pointcloud_densification.cpp \
    preprocess/voxel_generator.cpp

INCLUDEPATH += $$PWD/include
INCLUDEPATH += /opt/ros/melodic/include

DISTFILES += \
    network/scatter_kernel.cu \
    postprocess/circle_nms_kernel.cu \
    postprocess/postprocess_kernel.cu \
    preprocess/preprocess_kernel.cu

CUDA_SOURCES += \
    network/scatter_kernel.cu \
    postprocess/circle_nms_kernel.cu \
    postprocess/postprocess_kernel.cu \
    preprocess/preprocess_kernel.cu


CUDA_SDK = "/usr/local/cuda/"   # cudaSDK路径

CUDA_DIR = "/usr/local/cuda/"            # CUDA tookit路径

SYSTEM_NAME = linux         # 自己系统环境 'Win32', 'x64', or 'Win64'

SYSTEM_TYPE = 64           #操作系统位数 '32' or '64',

CUDA_ARCH = sm_72         # cuda架构, for example 'compute_10', 'compute_11', 'sm_10'

NVCC_OPTIONS = --use_fast_math --compiler-options "-fPIC"


# include paths

INCLUDEPATH += $$CUDA_DIR/include
#INCLUDEPATH += /usr/local/cuda-10.0/targets/aarch64-linux/include/crt

# library directories

QMAKE_LIBDIR += $$CUDA_DIR/lib/

CUDA_OBJECTS_DIR = ./

# The following library conflicts with something in Cuda

#QMAKE_LFLAGS_RELEASE = /NODEFAULTLIB:msvcrt.lib

#QMAKE_LFLAGS_DEBUG   = /NODEFAULTLIB:msvcrtd.lib

# Add the necessary libraries

CUDA_LIBS =  cudart cufft

# The following makes sure all path names (which often include spaces) are put between quotation marks

CUDA_INC = $$join(INCLUDEPATH,'" -I"','-I"','"')

NVCC_LIBS = $$join(CUDA_LIBS,' -l','-l', '')

#LIBS += $$join(CUDA_LIBS,'.so ', '', '.so')

# Configuration of the Cuda compiler

CONFIG(debug, debug|release) {

    # Debug mode

    cuda_d.input = CUDA_SOURCES

    cuda_d.output = $$CUDA_OBJECTS_DIR/${QMAKE_FILE_BASE}_cuda.o

    cuda_d.commands = $$CUDA_DIR/bin/nvcc -D_DEBUG $$NVCC_OPTIONS $$CUDA_INC $$NVCC_LIBS --machine $$SYSTEM_TYPE -arch=$$CUDA_ARCH -c -o ${QMAKE_FILE_OUT} ${QMAKE_FILE_NAME}

    cuda_d.dependency_type = TYPE_C

    QMAKE_EXTRA_COMPILERS += cuda_d

}

else {

    # Release mode

    cuda.input = CUDA_SOURCES

    cuda.output = $$CUDA_OBJECTS_DIR/${QMAKE_FILE_BASE}_cuda.o

    cuda.commands = $$CUDA_DIR/bin/nvcc $$NVCC_OPTIONS $$CUDA_INC $$NVCC_LIBS --machine $$SYSTEM_TYPE -arch=$$CUDA_ARCH -O3 -c -o ${QMAKE_FILE_OUT} ${QMAKE_FILE_NAME}

    cuda.dependency_type = TYPE_C

    QMAKE_EXTRA_COMPILERS += cuda

}


LIBS += -L/usr/local/cuda-10.2/targets/aarch64-linux/lib

LIBS += -lcudart -lcufft -lyaml-cpp

#LIBS += -L/home/adc/soft/cudnn-10.2-linux-x64-v7.6.5.32/cuda/lib64 -lcudnn

LIBS +=  -lmyelin -lnvinfer -lnvonnxparser -lnvcaffe_parser

#LIBS += -L/home/nvidia/git/libtorch_gpu-1.6.0-linux-aarch64/lib -ltorch_cuda  -ltorch -lc10 -ltorch_cpu

unix:INCLUDEPATH += /usr/include/eigen3
unix:INCLUDEPATH += /usr/include/pcl-1.7
unix:INCLUDEPATH += /usr/include/pcl-1.8

!include(../../../include/common.pri ) {
    error( "Couldn't find the common.pri file!" )
}

!include(../../../include/ivprotobuf.pri ) {
    error( "Couldn't find the ivprotobuf.pri file!" )
}

LIBS += -lboost_system

unix:LIBS +=  -lpcl_common\
        -lpcl_features\
        -lpcl_filters\
        -lpcl_io\
        -lpcl_io_ply\
        -lpcl_kdtree\
        -lpcl_keypoints\
        -lpcl_octree\
        -lpcl_outofcore\
        -lpcl_people\
        -lpcl_recognition\
        -lpcl_registration\
        -lpcl_sample_consensus\
        -lpcl_search\
        -lpcl_segmentation\
        -lpcl_surface\
        -lpcl_tracking\
        -lpcl_visualization