CMakeLists.txt

cmake_minimum_required(VERSION 3.17.5)

# cmake_policy(SET CMP0048 NEW)
# cmake_policy(SET CMP0042 NEW)
project(mmdet_pp) 


option(BUILD_SHARED_LIBS "Build as a shared library" ON)
option(USE_DOUBLE        "Use double as kernel_type" OFF)
option(TEST              "BUILD TEST"                ON)
option(BENCH             "BUILD BENCH"               OFF)

if(USE_DOUBLE)
    message("Use double as kernel_type")
endif()
if (NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif ()

############################################################
# add 3th_part library
############################################################

find_package(yaml-cpp REQUIRED)
include_directories(${YAML_CPP_INCLUDE_DIRS})

find_package(Threads)
find_package(OpenMP REQUIRED)
add_definitions("-DELPP_NO_LOG_TO_FILE")

find_package(CUDA REQUIRED QUIET)
include_directories(${CUDA_INCLUDE_DIRS})
if (CUDA_VERSION VERSION_LESS "11.0")
  set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} -std=c++11 -Wno-deprecated-gpu-targets)
else ()
  set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} -std=c++14 -Wno-deprecated-gpu-targets)
endif ()

find_library(NVINFER NAMES nvinfer)
find_library(NVPARSERS NAMES nvparsers)
find_library(NVONNXPARSERS NAMES nvonnxparser)

list(APPEND LINK_LIBRARY
            ${CUDA_cusparse_LIBRARY}
            ${NVINFER}
            ${NVONNXPARSERS}
            ${CUDA_LIBRARIES}
            ${CUDA_CUBLAS_LIBRARIES}
            ${CUDA_curand_LIBRARY}            
            ${CUDA_cusparse_LIBRARY}

            yaml-cpp
            )

# Correct error for GCC 5 and CUDA 7.5
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DYAML_BUILD_SHARED_LIBS=ON -D_MWAITXINTRIN_H_INCLUDED -D_FORCE_INLINES ")

if (CMAKE_VERSION VERSION_LESS "3.1")
    add_compile_options("-std=c++11 -fext-numeric-literals")
else ()
    set(CMAKE_CXX_STANDARD 11)
endif ()

set(COMMON_INCLUDES ${CMAKE_CURRENT_BINARY_DIR})

############################################################
# Create a library in subdirectory
############################################################
set(PROJECT_LIB_NAME mmdet_pp_lib)
include_directories(${COMMON_INCLUDES})
add_subdirectory(${PROJECT_SOURCE_DIR}/pointpillars)
message(STATUS " PROJECT_SOURCE_DIR : ${PROJECT_SOURCE_DIR}")
message(STATUS " PROJECT_LIB_NAME : ${PROJECT_LIB_NAME}")

############################################################
# ROS
############################################################
find_package(catkin REQUIRED COMPONENTS
  roscpp
  roslib
  pcl_ros
  autoware_msgs
  autoware_perception_msgs
)

catkin_package(
  CATKIN_DEPENDS
    roslib
    pcl_ros
    autoware_msgs
    autoware_perception_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

set(SOURCE_FILES
  nodes/mmdet_node.cc
  nodes/mmdet_ros.cc
)

add_executable(mmdet_pp
  ${SOURCE_FILES}
)

add_dependencies(mmdet_pp
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(mmdet_pp
  ${catkin_LIBRARIES}
  ${PROJECT_LIB_NAME}
)

install(
  TARGETS
    ${PROJECT_LIB_NAME}
    mmdet_pp
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

message(STATUS " TEST : ${TEST}")
############################################################
# Create an executable
############################################################
if (TEST)
    message("Building tests")
    find_package(rostest REQUIRED)
    catkin_add_gtest(test-mmdet_pp test/src/pointpillars_test.cc)
    target_link_libraries(test-mmdet_pp ${catkin_LIBRARIES} ${PROJECT_LIB_NAME})
endif ()

message(STATUS "")
message(STATUS "BUILD SUMMARY")
message(STATUS "  CMAKE_GENERATOR      : ${CMAKE_GENERATOR}")
message(STATUS "  Compiler ID          : ${CMAKE_CXX_COMPILER_ID}")
message(STATUS "  Build type           : ${CMAKE_BUILD_TYPE}")
message(STATUS "  Build shared libs    : ${BUILD_SHARED_LIBS}")
message(STATUS "  Use double for kernel: ${USE_DOUBLE}")
message(STATUS "  Build tests          : ${TEST}")
message(STATUS "")