CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(tensorrt_ros)

set(CMAKE_BUILD_TYPE Debug)

find_package(catkin REQUIRED COMPONENTS
    roscpp
    roslib
    std_msgs
    cv_bridge
    image_transport
    sensor_msgs
    geometry_msgs
    message_generation
)

add_message_files(
  FILES
    BoundingBox.msg
    BoundingBoxes.msg
)

generate_messages(
  DEPENDENCIES
    sensor_msgs
    std_msgs
)

catkin_package(CATKIN_DEPENDS roscpp std_msgs geometry_msgs sensor_msgs message_runtime roslib)

#include
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})

#
# CUDA Configuration
#
find_package(CUDA 10.0 REQUIRED)

set(CUDA_VERBOSE_BUILD ON)

# Specify the cuda host compiler to use the same compiler as cmake.
set(CUDA_HOST_COMPILER ${CMAKE_CXX_COMPILER})

# TensorRT
find_path(TENSORRT_INCLUDE_DIR NvInfer.h
  HINTS ${TENSORRT_ROOT} ${CUDA_TOOLKIT_ROOT_DIR}
  PATH_SUFFIXES include)
MESSAGE(STATUS "Found TensorRT headers at ${TENSORRT_INCLUDE_DIR}")
find_library(TENSORRT_LIBRARY_INFER nvinfer
  HINTS ${TENSORRT_ROOT} ${TENSORRT_BUILD} ${CUDA_TOOLKIT_ROOT_DIR}
  PATH_SUFFIXES lib lib64 lib/x64)
find_library(TENSORRT_LIBRARY_INFER_PLUGIN nvinfer_plugin
  HINTS  ${TENSORRT_ROOT} ${TENSORRT_BUILD} ${CUDA_TOOLKIT_ROOT_DIR}
  PATH_SUFFIXES lib lib64 lib/x64)
  find_library(TENSORRT_LIBRARY_PARSER nvparsers
  HINTS  ${TENSORRT_ROOT} ${TENSORRT_BUILD} ${CUDA_TOOLKIT_ROOT_DIR}
  PATH_SUFFIXES lib lib64 lib/x64)
set(TENSORRT_LIBRARY ${TENSORRT_LIBRARY_INFER} ${TENSORRT_LIBRARY_INFER_PLUGIN} ${TENSORRT_LIBRARY_PARSER})
MESSAGE(STATUS "Find TensorRT libs at ${TENSORRT_LIBRARY}")
find_package_handle_standard_args(
  TENSORRT DEFAULT_MSG TENSORRT_INCLUDE_DIR TENSORRT_LIBRARY)
if(NOT TENSORRT_FOUND)
  message(ERROR
    "Cannot find TensorRT library.")
endif()

FIND_PACKAGE(OpenCV 3.4 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARIES_DIRS})

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Ofast -Wfatal-errors -D_MWAITXINTRIN_H_INCLUDED")	# -std=gnu++11
set(BUILD_DEPS "YES" CACHE BOOL "If YES, will install dependencies into sandbox.  Automatically reset to NO after dependencies are installed.")

list(APPEND CUDA_NVCC_FLAGS "-D_FORCE_INLINES -Xcompiler -fPIC")
CUDA_INCLUDE_DIRECTORIES(${CUDNN_INCLUDE_DIR} ${TENSORRT_INCLUDE_DIR})
CUDA_ADD_EXECUTABLE(${PROJECT_NAME} Detector.cpp KeypointDetector.cpp Tracker.cpp main.cpp TensorRTNode.cpp Utils.cpp EntropyCalibrator.cpp)

target_include_directories(${PROJECT_NAME} PUBLIC ${CUDA_INCLUDE_DIRS} ${TENSORRT_INCLUDE_DIR} ${CUDNN_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${TENSORRT_LIBRARY} ${OpenCV_LIBS} nvonnxparser ${catkin_LIBRARIES})

add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)