104 lines
3.1 KiB
Makefile
104 lines
3.1 KiB
Makefile
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cc := g++
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nvcc = /usr/local/cuda-10.2/bin/nvcc
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CXXFLAGS += -std=c++14
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LDFLAGS = -lm
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cpp_srcs := $(shell find src -name "*.cpp")
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cpp_objs := $(cpp_srcs:.cpp=.cpp.o)
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cpp_objs := $(cpp_objs:src/%=objs/%)
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cpp_mk := $(cpp_objs:.cpp.o=.cpp.mk)
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cu_srcs := $(shell find src -name "*.cu")
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cu_objs := $(cu_srcs:.cu=.cu.o)
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cu_objs := $(cu_objs:src/%=objs/%)
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cu_mk := $(cu_objs:.cu.o=.cu.mk)
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include_paths := include \
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third-party \
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/usr/include/opencv4 \
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/usr/include/aarch64-linux-gnu \
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/usr/local/cuda-10.2/include \
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/usr/include/pcl-1.8 \
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/usr/include/eigen3 \
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/usr/include/vtk-6.3 \
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#/home/user/Downloads/TensorRT-8.0.1.6/include \
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library_paths := /usr/lib/aarch64-linux-gnu \
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/usr/local/cuda-10.2/lib64 \
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/usr/local/lib \
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/home/jetson/tmp/obstacle-detection/lib \
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#/home/jetson/Downloads/TensorRT-8.0.1.6/lib \
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link_librarys := opencv_core opencv_highgui opencv_imgproc opencv_videoio opencv_imgcodecs \
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nvinfer nvinfer_plugin nvonnxparser \
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cuda cublas cudart cudnn realsense2 glfw GL GLU\
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pcl_common pcl_segmentation pcl_io pcl_kdtree pcl_filters\
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pcl_features pcl_apps pcl_io_ply pcl_keypoints pcl_ml pcl_octree pcl_outofcore pcl_people pcl_recognition pcl_registration pcl_sample_consensus pcl_search pcl_stereo pcl_surface pcl_tracking pcl_visualization \
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boost_system vtkCommonCore-6.3 vtkCommonMath-6.3 vtkRenderingCore-6.3 vtkCommonDataModel-6.3\
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stdc++ dl\
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JetsonGPIO
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empty :=
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export_path := $(subst $(empty) $(empty),:,$(library_paths))
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run_paths := $(foreach item,$(library_paths),-Wl,-rpath=$(item))
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include_paths := $(foreach item,$(include_paths),-I$(item))
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library_paths := $(foreach item,$(library_paths),-L$(item))
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link_librarys := $(foreach item,$(link_librarys),-l$(item))
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cpp_compile_flags := -std=c++14 -fPIC -w -g -pthread -fopenmp -O0
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cu_compile_flags := -std=c++14 -g -w -O0 -Xcompiler "$(cpp_compile_flags)"
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link_flags := -pthread -fopenmp -Wl,-rpath='$$ORIGIN'
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cpp_compile_flags += $(include_paths)
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cu_compile_flags += $(include_paths)
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link_flags += $(library_paths) $(link_librarys) $(run_paths)
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ifneq ($(MAKECMDGOALS), clean)
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-include $(cpp_mk) $(cu_mk)
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endif
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pro := workspace/pro
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expath := library_path.txt
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library_path.txt :
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@echo LD_LIBRARY_PATH=$(export_path):"$$"LD_LIBRARY_PATH > $@
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workspace/pro : $(cpp_objs) $(cu_objs)
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@echo Link $@
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@mkdir -p $(dir $@)
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@$(cc) $^ -o $@ $(link_flags)
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objs/%.cpp.o : src/%.cpp
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@echo Compile CXX $<
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@mkdir -p $(dir $@)
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@$(cc) -c $< -o $@ $(cpp_compile_flags)
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objs/%.cu.o : src/%.cu
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@echo Compile CUDA $<
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@mkdir -p $(dir $@)
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@$(nvcc) -c $< -o $@ $(cu_compile_flags)
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objs/%.cpp.mk : src/%.cpp
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@echo Compile depends CXX $<
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@mkdir -p $(dir $@)
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@$(cc) -M $< -MF $@ -MT $(@:.cpp.mk=.cpp.o) $(cpp_compile_flags)
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objs/%.cu.mk : src/%.cu
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@echo Compile depends CUDA $<
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@mkdir -p $(dir $@)
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@$(nvcc) -M $< -MF $@ -MT $(@:.cu.mk=.cu.o) $(cu_compile_flags)
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run : workspace/pro
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@cd workspace && ./pro
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clean :
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@rm -rf objs workspace/pro
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@rm -rf library_path.txt
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@rm -rf workspace/Result.jpg
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# 导出符号，使得运行时能够链接上
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export LD_LIBRARY_PATH:=$(export_path):$(LD_LIBRARY_PATH)
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