152 lines
3.7 KiB
CMake
152 lines
3.7 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(yushu_leida)
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# 设置C++标准
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# 查找PCL
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find_package(PCL REQUIRED)
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# 查找yaml-cpp
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find_package(yaml-cpp REQUIRED)
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# 设置Unitree SDK路径
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set(UNITREE_SDK_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/unilidar_sdk-main/unilidar_sdk-main/unitree_lidar_sdk")
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# 检查路径是否存在
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if(NOT EXISTS "${UNITREE_SDK_ROOT}")
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message(FATAL_ERROR "Unitree SDK not found at: ${UNITREE_SDK_ROOT}")
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endif()
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# 检测系统架构
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64|AMD64")
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set(ARCH_DIR "x86_64")
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elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
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set(ARCH_DIR "aarch64")
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else()
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message(FATAL_ERROR "Unsupported architecture: ${CMAKE_SYSTEM_PROCESSOR}")
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endif()
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# 设置库路径
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set(UNITREE_LIB_DIR "${UNITREE_SDK_ROOT}/lib/${ARCH_DIR}")
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set(UNITREE_LIB_PATH "${UNITREE_LIB_DIR}/libunitree_lidar_sdk.a")
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# 检查库文件是否存在
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if(NOT EXISTS "${UNITREE_LIB_PATH}")
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message(FATAL_ERROR "Unitree library not found at: ${UNITREE_LIB_PATH}")
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endif()
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# 先定义可执行文件目标
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# 原版程序
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add_executable(yushu_leida
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src/main.cpp
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src/unitree_driver.cpp # 只包含真实驱动
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# 不包含 src/ubuntu_simulator_driver.cpp
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)
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# 修复版程序 - 包含连续预警系统
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add_executable(yushu_leida_fixed
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src/main.cpp
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src/unitree_driver.cpp
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)
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# 雷达数据调试工具
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add_executable(debug_radar_real_data
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debug_radar_real_data.cpp
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src/unitree_driver.cpp
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)
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# 改进版程序 - 基于参考项目优化
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add_executable(yushu_leida_improved
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src/main_improved.cpp
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src/unitree_driver.cpp
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)
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# 添加增强图形界面版本
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add_executable(yushu_leida_enhanced_gui
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src/main_improved.cpp
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src/unitree_driver.cpp
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# src/enhanced_ui_display.cpp # 移除这行，因为文件不存在
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)
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# 设置包含目录
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target_include_directories(yushu_leida_enhanced_gui PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK_ROOT}/include
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${PCL_INCLUDE_DIRS}
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)
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# 链接库
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target_link_libraries(yushu_leida_enhanced_gui
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${UNITREE_LIB_PATH}
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${PCL_LIBRARIES}
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yaml-cpp
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pthread
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)
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# 添加编译定义
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target_compile_definitions(yushu_leida_enhanced_gui PRIVATE
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${PCL_DEFINITIONS}
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)
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target_include_directories(yushu_leida PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK_ROOT}/include
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${PCL_INCLUDE_DIRS}
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)
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target_include_directories(yushu_leida_improved PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK_ROOT}/include
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${PCL_INCLUDE_DIRS}
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)
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target_include_directories(yushu_leida_fixed PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK_ROOT}/include
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${PCL_INCLUDE_DIRS}
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)
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target_include_directories(debug_radar_real_data PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK_ROOT}/include
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${PCL_INCLUDE_DIRS}
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)
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# 链接库
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target_link_libraries(yushu_leida
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${UNITREE_LIB_PATH} # 直接使用静态库的完整路径
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${PCL_LIBRARIES}
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yaml-cpp
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pthread
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)
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target_link_libraries(yushu_leida_improved
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${UNITREE_LIB_PATH} # 直接使用静态库的完整路径
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${PCL_LIBRARIES}
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yaml-cpp
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pthread
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)
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target_link_libraries(yushu_leida_fixed
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${UNITREE_LIB_PATH} # 直接使用静态库的完整路径
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${PCL_LIBRARIES}
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yaml-cpp
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pthread
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)
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target_link_libraries(debug_radar_real_data
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${UNITREE_LIB_PATH} # 直接使用静态库的完整路径
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${PCL_LIBRARIES}
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yaml-cpp
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pthread
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)
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# 设置PCL编译定义
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target_compile_definitions(yushu_leida PRIVATE ${PCL_DEFINITIONS})
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target_compile_definitions(yushu_leida_improved PRIVATE ${PCL_DEFINITIONS})
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target_compile_definitions(yushu_leida_fixed PRIVATE ${PCL_DEFINITIONS}) |