sgm_gpu_ros/CMakeLists.txt at master · ActiveIntelligentSystemsLab/sgm_gpu_ros · GitHub

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# CMake>=3.8 supports CUDA C++ as intrinsically supported language
cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
project(sgm_gpu CUDA CXX)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_geometry
  image_transport
  message_filters
  roscpp
  sensor_msgs
  stereo_msgs
)
find_package(OpenCV REQUIRED)

set(CUDA_NVCC_FLAGS
  ${CUDA_NVCC_FLAGS};
  -O3
  -gencode=arch=compute_30,code=sm_30
  -gencode=arch=compute_35,code=sm_35
  -gencode=arch=compute_50,code=sm_50
  -gencode=arch=compute_52,code=sm_52
  -gencode=arch=compute_61,code=sm_61
)

catkin_package(
  CATKIN_DEPENDS cv_bridge image_geometry roscpp sensor_msgs stereo_msgs
  DEPENDS OpenCV
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

# Build lib${PROJECT_NAME}
add_library(${PROJECT_NAME}
  src/sgm_gpu.cu
  src/costs.cu
  src/hamming_cost.cu
  src/left_right_consistency.cu
  src/median_filter.cu
)
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)

# Build ${PROJECT_NAME}_node
add_executable(${PROJECT_NAME}_node
  src/${PROJECT_NAME}_node.cpp
  src/${PROJECT_NAME}_node_main.cpp
)
add_dependencies(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${catkin_EXPORTED_TARGETS}
)
target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

# Install lib${PROJECT_NAME}
install(TARGETS ${PROJECT_NAME}
 ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

# Install ${PROJECT_NAME}_node
install(TARGETS ${PROJECT_NAME}_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Install launch, bag and document
install(FILES test_input.bag README.md
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)