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| 1 | +# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES |
| 2 | +# Copyright (c) 2023-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. |
| 3 | +# |
| 4 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | +# you may not use this file except in compliance with the License. |
| 6 | +# You may obtain a copy of the License at |
| 7 | +# |
| 8 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | +# |
| 10 | +# Unless required by applicable law or agreed to in writing, software |
| 11 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | +# See the License for the specific language governing permissions and |
| 14 | +# limitations under the License. |
| 15 | +# |
| 16 | +# SPDX-License-Identifier: Apache-2.0 |
| 17 | + |
| 18 | +cmake_minimum_required(VERSION 3.22.1) |
| 19 | +project(gxf_isaac_occupancy_grid_projector LANGUAGES C CXX CUDA) |
| 20 | + |
| 21 | +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") |
| 22 | + add_compile_options(-fPIC -w) |
| 23 | +endif() |
| 24 | + |
| 25 | +find_package(ament_cmake_auto REQUIRED) |
| 26 | +ament_auto_find_build_dependencies() |
| 27 | + |
| 28 | +# Dependencies |
| 29 | +find_package(CUDAToolkit REQUIRED) |
| 30 | +find_package (Eigen3 3.3 REQUIRED NO_MODULE) |
| 31 | +find_package(yaml-cpp) |
| 32 | + |
| 33 | +# Occupancy Grid Projector extension |
| 34 | +ament_auto_add_library(${PROJECT_NAME} SHARED |
| 35 | + gxf/occupancy_grid_projector_ext.cpp |
| 36 | + gxf/occupancy_grid_projector.cpp |
| 37 | + gxf/occupancy_grid_projector.cu.cpp |
| 38 | + gxf/occupancy_grid_projector.cu.hpp |
| 39 | + gxf/occupancy_grid_projector.hpp |
| 40 | +) |
| 41 | +# Mark as CUDA files with non-standard extensions |
| 42 | +set_source_files_properties( |
| 43 | + gxf/occupancy_grid_projector.cu.cpp |
| 44 | + gxf/occupancy_grid_projector.cu.hpp |
| 45 | + PROPERTIES LANGUAGE CUDA |
| 46 | +) |
| 47 | + |
| 48 | +target_link_libraries(${PROJECT_NAME} |
| 49 | + CUDA::cudart |
| 50 | + Eigen3::Eigen |
| 51 | + yaml-cpp |
| 52 | +) |
| 53 | + |
| 54 | +target_include_directories(${PROJECT_NAME} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/gxf") |
| 55 | + |
| 56 | +set_target_properties(${PROJECT_NAME} PROPERTIES |
| 57 | + BUILD_WITH_INSTALL_RPATH TRUE |
| 58 | + BUILD_RPATH_USE_ORIGIN TRUE |
| 59 | + INSTALL_RPATH_USE_LINK_PATH TRUE |
| 60 | +) |
| 61 | + |
| 62 | +# Install the binary file |
| 63 | +install(TARGETS ${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}/gxf/lib) |
| 64 | + |
| 65 | +ament_auto_package(INSTALL_TO_SHARE) |
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