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CMakeLists.txt
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CMakeLists.txt
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#DetectNet ROS Package
#Choose -DSUBIMAGES to subscribe a image node over ROS pipline
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
rosbuild_init()
find_package(OpenCV REQUIRED)
find_package(CUDA 8.0 REQUIRED)
include_directories(${OPENCV_INCLUDE_DIRS})
include_directories(${CUDA_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${CUDA_LIBRARY_DIRS})
rosbuild_genmsg()
add_definitions(-DGPU -DCUDNN)
# Compile Darknet link Library:
file(GLOB SOURCES "src/detector/*.c" "src/detector/*.cu" "src/detector/*.h")
cuda_add_library(neurlib ${SOURCES} OPTIONS -arch sm_61)
TARGET_LINK_LIBRARIES(neurlib m pthread stdc++ cublas curand cudnn)
# Compile detector
rosbuild_add_executable(detector
src/detector/main.cpp
src/detector/supportfunc.cpp
src/detector/supportfunc.hpp
)
rosbuild_add_compile_flags(detector -std=c++11)
TARGET_LINK_LIBRARIES(detector ${OpenCV_LIBS} neurlib)