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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.17)
project(ray_casting)
set(CMAKE_CUDA_STANDARD 14)
set(CMAKE_VERBOSE_MAKEFILE ON)
# OpenCV
set(OpenCV_DIR ~/Documents/opencv)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# PNG
find_package(PNG REQUIRED)
include_directories(${PNG_INCLUDE_DIRS})
include_directories(${LIBVISO2_SRC_DIR})
link_directories(${PNG_LIBRARY_DIRS})
add_definitions(${PNG_DEFINITIONS})
# Eigen
include_directories($ENV{EIGEN})
# include dir
include_directories(include)
file(GLOB utils_cpp utils/*.cpp)
file(GLOB tsdf_cpp TSDF/*.cpp)
add_library(
utils
${utils_cpp}
${tsdf_cpp}
)
add_library(
rc
RayCaster/Raycaster.cpp
)
target_link_libraries(
rc
utils
${PNG_LIBRARY}
)
add_executable(
raycasting
main.cpp
TSDF/TSDFUtilitiesCPU.cpp include/TSDFUtilitiesCPU.h)
target_link_libraries(
raycasting
utils
rc
${OpenCV_LIBS}
)
# CUDA
if (DEFINED ENV{CUDA_HOME})
message("CUDA found at $ENV{CUDA_HOME}")
set(CMAKE_CUDA_COMPILER $ENV{CUDA_HOME}/bin/nvcc)
enable_language(CUDA)
include_directories($ENV{CUDA_HOME}/include ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
# include dir
include_directories(include)
file(GLOB utils_cpp utils/*.cpp)
file(GLOB utils_cu utils/*.cu)
file(GLOB tsdf_cpp TSDF/*cpp)
file(GLOB tsdf_cu TSDF/*cu)
add_executable(
ray_casting_gpu
main_gpu.cpp
${utils_cu}
${tsdf_cu}
RayCaster/GPURaycaster.cu
RayCaster/Raycaster.cpp
)
target_link_libraries(
ray_casting_gpu
utils
${PNG_LIBRARY}
${OpenCV_LIBS}
)
# necessary as the kernel exceeds maximum 64k
target_compile_options(
ray_casting_gpu
PRIVATE
$<$<COMPILE_LANGUAGE:CUDA>:--maxrregcount=64 -use_fast_math>
)
set_target_properties(
ray_casting_gpu
PROPERTIES
CUDA_SEPARABLE_COMPILATION ON
)
else ()
message("CUDA not found. Build for CPU only.")
endif ()