提交cmake变动

CMakeLists.txt

 cmake_minimum_required(VERSION 3.0.2)
 project(jfx_tracking)
 
+set(KF_CUDA OFF)
 
 add_definitions(-D_DEBUG)
         set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g  -O0")
@@ -16,6 +17,7 @@ find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
 include_directories(${YAML_CPP_INCLUDE_DIR})
 
+
 #find_package(CUDA REQUIRED)
 
 #if (CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
@@ -72,12 +74,24 @@ catkin_package(
 ## Build ##
 ###########
 
+if(KF_CUDA)
+add_definitions(-D_KF_IOU_CUDA_)
+find_package(CUDA REQUIRED)
+include_directories(/usr/local/cuda/include)
+link_directories(/usr/local/cuda/lib64)
+set(CUDA_NVCC_PLAGS ${CUDA_NVCC_PLAGS};-std=c++11;-g;-G;-gencode;arch=compute_75;code=sm_75)
+include_directories(${PROJECT_SOURCE_DIR}/src/BaseTracker/kf_gpu)
+cuda_add_library(kf_cuda SHARED ${PROJECT_SOURCE_DIR}/src/BaseTracker/bev_overlap_online.cu ${PROJECT_SOURCE_DIR}/src/BaseTracker/kalman_batch_ops.cu ${PROJECT_SOURCE_DIR}/src/BaseTracker/kalman_batch_ops.cu)
+target_link_libraries(kf_cuda cudart cublas)
+endif
+
 
 include_directories(
         /usr/local/include
         src
         src/tracker
         src/BaseTracker
+        src/BaseTracker/kf_gpu
         src/log
         src/common
         src/coordinate
@@ -121,6 +135,10 @@ target_link_libraries(${PROJECT_NAME}_node
         yaml-cpp
         )
 
+if(KF_CUDA)
+target_link_libraries(${PROJECT_NAME}_node kf_cuda)
+endif
+
 #add_executable(cv_test
 #        src/test.cpp
 #        ${COORDINATE_SRC_FILES}