65 lines
1.7 KiB
Bash
65 lines
1.7 KiB
Bash
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#!/bin/bash
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echo "🚀 开始编译宇树雷达坡面检测系统（修复版）..."
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# 检查必要的依赖
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echo "📋 检查系统依赖..."
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# 检查PCL
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if ! pkg-config --exists pcl_common-1.12 || ! pkg-config --exists pcl_visualization-1.12; then
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echo "❌ PCL库未找到，请安装PCL 1.12"
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echo "Ubuntu安装命令: sudo apt-get install libpcl-dev"
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exit 1
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fi
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# 检查yaml-cpp
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if ! pkg-config --exists yaml-cpp; then
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echo "❌ yaml-cpp库未找到，请安装yaml-cpp"
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echo "Ubuntu安装命令: sudo apt-get install libyaml-cpp-dev"
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exit 1
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fi
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# 检查Unitree SDK
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if [ ! -d "unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk" ]; then
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echo "❌ Unitree SDK未找到"
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echo "请确保unilidar_sdk-main目录存在并包含SDK文件"
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exit 1
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fi
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echo "✅ 依赖检查完成"
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# 创建构建目录
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mkdir -p build
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cd build
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# 配置CMake
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echo "🔧 配置CMake..."
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cmake .. -DCMAKE_BUILD_TYPE=Release
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if [ $? -ne 0 ]; then
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echo "❌ CMake配置失败"
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exit 1
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fi
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# 编译
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echo "🔨 开始编译..."
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make -j$(nproc) yushu_leida_fixed
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if [ $? -eq 0 ]; then
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echo "✅ 编译成功！"
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echo "📁 可执行文件位置: build/yushu_leida_fixed"
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echo ""
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echo "🚀 运行命令:"
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echo " cd build && ./yushu_leida_fixed"
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echo ""
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echo "📋 功能说明:"
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echo " ✓ 禁用模拟雷达驱动，仅使用真实雷达"
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echo " ✓ 图形界面显示坐标轴"
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echo " ✓ 当检测到遮挡物（距离<5厘米）时预警"
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echo " ✓ 当裂缝各项参数都达到100米时预警"
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echo " ✓ 语音预警3次，播报结束后继续检测"
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echo " ✓ 如果问题仍存在，继续播报3次"
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else
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echo "❌ 编译失败"
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exit 1
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fi
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