第一次添加

test_project/cp_2d_juefx/CMakeLists.txt

+cmake_minimum_required(VERSION 3.10)
+project(cp_pp_jf)
+
+set(TRT_MAIN_PATH "/host/home/juefx/liuji_workspace/nvidia_lib/TensorRT-8.5.1.7")                                   # office 1660 trt 8
+
+#enable_language(CUDA)
+find_package(CUDA REQUIRED)
+find_package(PCL 1.8 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+find_package(Boost 1.65.1 REQUIRED system)
+find_package(OpenCV REQUIRED)
+
+set(PCL_PTH "pcl-1.8")
+
+set(CUDA_NVCC_PLAGS ${CUDA_NVCC_PLAGS};-std=c++11;-g;-G;-gencode;arch=compute_72;code=sm_72)
+
+
+add_definitions(-DJFPRE)                                                         # use jf preprocess
+
+include_directories("/usr/include/${PCL_PTH}" /usr/include/eigen3)
+if (CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
+        message("xavier on")
+        # add_definitions(-DWERXAVIER)
+        include_directories(/usr/local/cuda/targets/aarch64-linux/include)
+        link_directories(/usr/local/cuda/targets/aarch64-linux/lib)
+        # find_package (OpenCV 4.0.0 REQUIRED)
+        # include_directories ("/usr/include/opencv4/")
+else()
+#       add_compile_definitions(THRUST_IGNORE_CUB_VERSION_CHECK)  # for cuda version >= 11
+        # message( SEND_ERROR "only valid in xavier!" )
+        add_definitions(-DBOOST_ERROR_CODE_HEADER_ONLY)
+        add_definitions(-DWERGPU)
+        message("=> xavier off")
+
+        include_directories("${TRT_MAIN_PATH}/include")
+        include_directories(/usr/local/cuda/include)
+        link_directories("${TRT_MAIN_PATH}/lib" )
+        link_directories(/usr/local/cuda/lib64)
+        link_directories(/usr/local/lib)
+endif()
+
+file(GLOB gpu_source_files "${PROJECT_SOURCE_DIR}/trt/*.cu")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Ofast -Wfatal-errors -D_MWAITXINTRIN_H_INCLUDED")
+
+cuda_add_library(myplugins SHARED ${gpu_source_files})
+target_link_libraries(myplugins nvinfer cudart)
+# target_include_directories(myplugins PRIVATE)
+
+add_executable(cp_pp_jf ${PROJECT_SOURCE_DIR}/trt/cp_pillar_juefx_local.cc 
+              ${PROJECT_SOURCE_DIR}/trt/cp_2d_juefx.cpp)
+              
+target_link_libraries(cp_pp_jf nvinfer)
+target_link_libraries(cp_pp_jf cudart)
+target_link_libraries(cp_pp_jf myplugins)
+target_link_libraries(cp_pp_jf nvonnxparser)
+target_link_libraries(cp_pp_jf -lm -pthread -lboost_system)
+target_link_libraries(cp_pp_jf ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${OpenCV_LIBS})
+target_link_libraries(cp_pp_jf -lpcl_filters yaml-cpp)
+
+add_definitions(-O2 -pthread)
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