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|
add_compile_options(-std=c++14)
find_package(catkin REQUIRED COMPONENTS nodelet roscpp cv_bridge image_transport sensor_msgs std_msgs message_generation common_msgs)
# for custom ROS messages
if (DEPENDENT_PKG_LIST)
generate_messages(DEPENDENCIES ${DEPENDENT_PKG_LIST})
endif()
catkin_package(CATKIN_DEPENDS nodelet roscpp cv_bridge image_transport sensor_msgs message_runtime)
find_package(OpenCV REQUIRED)
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
# PSDKRA base folder location
set(PSDK_DIR $ENV{PSDK_BASE_PATH})
set(CGT7X_ROOT ti-cgt-c7000_1.4.0.LTS)
set(PDK_PACKAGE_ROOT pdk/packages/ti)
set(TIDL_PACKAGE_ROOT tidl_j7_01_03_00_11/ti_dl)
set(MMALIB_PACKAGE_ROOT mmalib_01_03_00_06)
set(TIADALG_PATH tiadalg)
SET(CMAKE_FIND_LIBRARY_PREFIXES "" "lib")
SET(CMAKE_FIND_LIBRARY_SUFFIXES ".a" ".lib" ".so")
# tivision_apps library: build agaist static or shared library
# tiovx_apps shared lib currently available only on J7
## TI OpenVX
if (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
set(TARGET_PLATFORM PC)
set(TARGET_CPU x86_64)
set(BUILD_EMULATION_MODE yes)
set(TIVISION_APPS_TYPE static)
elseif (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
set(TARGET_PLATFORM J7)
set(TARGET_CPU A72)
set(BUILD_EMULATION_MODE no)
set(TIVISION_APPS_TYPE shared)
else()
message(FATAL_ERROR "Unknown processor:" ${CMAKE_SYSTEM_PROCESSOR})
endif()
set(TARGET_OS LINUX)
# Set PROFLE based on CMAKE_BUILD_TYPE which is passed from command line,
# e.g., catkin_make -DCMAKE_BUILD_TYPE=Debug
if (NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
if ((${CMAKE_BUILD_TYPE} STREQUAL Debug) OR (${CMAKE_BUILD_TYPE} STREQUAL RelWithDebInfo))
set(PROFILE debug)
else()
set(PROFILE release)
endif()
message(STATUS "PROFILE = ${PROFILE}")
unset(CMAKE_BUILD_TYPE CACHE)
# pass the macros
if(${TARGET_PLATFORM} STREQUAL "PC")
add_definitions(
-DTARGET_CPU=${TARGET_CPU}
-DTARGET_OS=${TARGET_OS}
-DPROFILE=${PROFILE}
-DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
-DPC
)
else() # J7
add_definitions(
-DTARGET_CPU=${TARGET_CPU}
-DTARGET_OS=${TARGET_OS}
-DPROFILE=${PROFILE}
-DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
)
endif()
# TIOVX, VISION_APPS, PTK_DEMOS: include folders
set(TIOVX_INCLUDE_DIRS
${PSDK_DIR}/tiovx/include
${PSDK_DIR}/tiovx/kernels_j7/include
${PSDK_DIR}/tiovx/tiovx_dev/kernels_j7/include
${PSDK_DIR}/tiovx/utils/include/
${PSDK_DIR}/tiovx/kernels/include/
)
set(PTK_INCLUDE_DIRS
${PSDK_DIR}/perception/include
)
set(MMALIB_INCLUDE_DIRS
${PSDK_DIR}/${MMALIB_PACKAGE_ROOT}/include
)
set(TIDL_INCLUDE_DIRS
${PSDK_DIR}/${TIDL_PACKAGE_ROOT}/inc
)
set(TIADALG_INCLUDE_DIRS
${PSDK_DIR}/${TIADALG_PATH}/include
)
set(VISION_APP_INCLUDE_DIRS
${PSDK_DIR}/vision_apps
${PSDK_DIR}/vision_apps/apps/ptk_demos/app_common
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/sde_ldc_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/sde_multilayer_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/sde_singlelayer_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/sde_obstacle_detection_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/semseg_cnn_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/ss_sde_detection_applib
${PSDK_DIR}/vision_apps/apps/ptk_demos/applibs/applib_common
${PSDK_DIR}/vision_apps/kernels/img_proc/include
${PSDK_DIR}/vision_apps/kernels/stereo/include
src
)
# should add more directories in ${PSDK_DIR}/vision_apps/kernels
set(VISION_APP_KERNEL_INCLUDE_DIRS
${PSDK_DIR}/vision_apps/kernels/img_proc/include
${PSDK_DIR}/vision_apps/kernels/stereo/include
)
set(OTHER_INCLUDE_DIRS
${PSDK_DIR}/${CGT7X_ROOT}/host_emulation/include/C7100
${PSDK_DIR}/j7_c_models/include
${PSDK_DIR}/ivision
)
include_directories(
${TIOVX_INCLUDE_DIRS}
${PTK_INCLUDE_DIRS}
${VISION_APP_INCLUDE_DIRS}
${VISION_APP_KERNEL_INCLUDE_DIRS}
${MMALIB_INCLUDE_DIRS}
${TIDL_INCLUDE_DIRS}
${TIADALG_INCLUDE_DIRS}
${OTHER_INCLUDE_DIRS}
)
# TIOVX, VISION_APPS, PTK_DEMOS: define lib variables
if(${TARGET_PLATFORM} STREQUAL "PC")
include(${CMAKE_CURRENT_LIST_DIR}/platform_${TARGET_PLATFORM}.cmake)
endif()
# Function for building a node:
# ARG0: app name
# ARG1: source list
function(build_node)
set(app ${ARGV0})
set(src ${ARGV1})
add_executable(${app} ${${src}})
target_link_libraries(${app} ${TARGET_LINK_LIBS})
add_dependencies(${app} ${common_msgs_EXPORTED_TARGETS})
endfunction()
# Function for building a nodelet:
# ARG0: lib name
# ARG1: source list
function(build_nodelet)
set(lib ${ARGV0})
set(src ${ARGV1})
add_library(${lib} ${${src}})
target_link_libraries(${lib} ${TARGET_LINK_LIBS})
endfunction()
# BUILD and LINK
if ((${TIVISION_APPS_TYPE} STREQUAL shared) AND (${TARGET_PLATFORM} STREQUAL J7))
set(TARGET_LINK_LIBS
${catkin_LIBRARIES}
tivision_apps gbm)
else() # static
set(TARGET_LINK_LIBS
${catkin_LIBRARIES}
-Wl,--start-group
${VISION_APPS_LIBS}
${PDK_LIBS}
${TIOVX_LIBS}
${PTK_LIBS}
${J7_CMODEL_LIBS}
${IMAGING_LIBS}
${CGT7X_LIBS}
${TIDL_LIBS}
${MMA_LIBS}
${TIADALG_LIBS}
${PTHREAD_LIB}
${ION_LIB} # only for J7
${CMAKE_DL_LIBS}
-Wl,--end-group
)
link_directories(
${TIOVX_LIBS_DIR}
${VISION_APPS_LIBS_DIR}
${PDK_LIBS_DIR}
${PTK_LIBS_DIR}
${IMAGING_LIBS_DIR}
${CGT7X_LIBS_DIR}
${TIDL_LIBS_DIR}
${MMA_LIBS_DIR}
${TIADALG_LIBS_DIR}
${J7_CMODEL_LIBS_DIR}
${PTHREAD_LIB_DIR}
${ION_LIB_DIR} # only for J7
)
endif()
|
