提交utm调用逻辑

CMakeLists.txt

@@ -4,6 +4,7 @@ project(jfx_tracking)
 set(KF_CUDA OFF)
 set(QICHECHENG OFF)
 set(NSIGHT OFF)
+set(USING_UTM_POS ON)
 
 SET(CMAKE_BUILD_TYPE "Release")
 
@@ -29,6 +30,43 @@ find_package(OpenCV REQUIRED)
 find_package(yaml-cpp REQUIRED)
 include_directories(${YAML_CPP_INCLUDE_DIR})
 
+if(USING_UTM_POS)
+add_definitions(-D_ABUZHABI_)
+
+# Begin for GeographicLib
+set (GEOGRAPHICLIB_PRECISION 2 CACHE STRING
+  "Precision: 1 = float, 2 = double, 3 = extended, 4 = quadruple, 5 = variable")
+set_property (CACHE GEOGRAPHICLIB_PRECISION PROPERTY STRINGS 1 2 3 4 5)
+set (GEOGRAPHICLIB_SHARED_LIB ON)
+set (GEOGRAPHICLIB_STATIC_LIB OFF)
+set (GEOGRAPHICLIB_LIB_TYPE_VAL 1)
+set (PROJECT_STATIC_LIBRARIES)
+set (PROJECT_STATIC_DEFINITIONS)
+set (PROJECT_SHARED_LIBRARIES GeographicLib_SHARED)
+set (PROJECT_LIBRARIES ${PROJECT_SHARED_LIBRARIES})
+set (PROJECT_SHARED_DEFINITIONS -DGEOGRAPHICLIB_SHARED_LIB=1)
+set (PROJECT_DEFINITIONS ${PROJECT_SHARED_DEFINITIONS})
+set (PROJECT_INTERFACE_LIBRARIES GeographicLib)
+set (PROJECT_ALL_LIBRARIES
+  ${PROJECT_STATIC_LIBRARIES}
+  ${PROJECT_SHARED_LIBRARIES}
+  ${PROJECT_INTERFACE_LIBRARIES}
+)
+configure_file (
+  ${JFX_COMMON_LIBS_PATH}/GeographicLib/include/GeographicLib/Config.h.in
+  ${JFX_COMMON_LIBS_PATH}/GeographicLib/include/GeographicLib/Config.h
+  @ONLY
+)
+file(GLOB_RECURSE GEOGRAPHICLIB_SRC
+${JFX_COMMON_LIBS_PATH}/GeographicLib/src/*.cpp
+)
+add_library (CoordinateLib SHARED ${GEOGRAPHICLIB_SRC})
+
+include_directories(${JFX_COMMON_LIBS_PATH}/GeographicLib/include)
+include_directories(${JFX_COMMON_LIBS_PATH}/coordinate)
+# End for GeographicLib
+
+endif()
 #find_package(CUDA REQUIRED)
 
 #if (CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
@@ -157,6 +195,10 @@ target_link_libraries(${PROJECT_NAME}_node
         ${OpenCV_LIBS}
         yaml-cpp
         )
+        
+if(USING_UTM_POS)
+target_link_libraries(${PROJECT_NAME}_node CoordinateLib)
+endif()
 
 if(KF_CUDA)
 target_link_libraries(${PROJECT_NAME}_node kf_cuda)