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- 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
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