Builds in docker

Author: yasen5

CMakeLists.txt

@@ -23,14 +23,15 @@ link_directories(/usr/local/cuda-12.6/compat)
 
 link_directories(/usr/lib/aarch64-linux-gnu/nvidia)
 
-# find_package(wpilib REQUIRED)
-# find_package(OpenCV REQUIRED)
-# find_package(Eigen3 REQUIRED)
-message(STATUS "Eigen version found: ${Eigen3_VERSION}")
+find_package(wpilib REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+message(STATUS "Wpilib dir: ${wpilib_DIR}")
+message(STATUS "Eigen version found in root: ${Eigen3_VERSION}")
 
 add_subdirectory(third_party/json)
 add_subdirectory(third_party/971apriltag)
-# add_subdirectory(third_party/kalman-cpp)
+add_subdirectory(third_party/kalman-cpp)
 
 add_compile_options(-Wno-psabi)
 add_subdirectory(src)

src/CMakeLists.txt

@@ -4,20 +4,16 @@ set(CMAKE_BUILD_TYPE Debug)
 include_directories(${CMAKE_SOURCE_DIR})
 include_directories(/usr/local/cuda/include)
 
-find_package(wpilib REQUIRED)
-find_package(OpenCV REQUIRED)
-find_package(Eigen3 REQUIRED)
+add_subdirectory(camera)
+add_subdirectory(localization)
+add_subdirectory(calibration)
+add_subdirectory(yolo)
 
-# add_subdirectory(camera)
-# add_subdirectory(localization)
-# add_subdirectory(calibration)
-# add_subdirectory(yolo)
+add_executable(localization_main localization_main.cc)
+target_link_libraries(localization_main PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization)
 
-# add_executable(localization_main localization_main.cc)
-# target_link_libraries(localization_main PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen localization)
-
-# add_executable(game_peice_main game_peice_main.cc)
-# target_link_libraries(game_peice_main PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen)
+add_executable(game_peice_main game_peice_main.cc)
+target_link_libraries(game_peice_main PRIVATE ${OpenCV_LIBS} apriltag ntcore camera nlohmann_json::nlohmann_json Eigen3::Eigen)
 
 add_executable(test test.cc)
 target_link_libraries(test PRIVATE ${OpenCV_LIBS} 971apriltag apriltag cameraserver ntcore cscore wpiutil nlohmann_json::nlohmann_json Eigen3::Eigen)

src/camera/CMakeLists.txt

@@ -1,3 +1,3 @@
-add_library(camera imx296_camera.cc streamer.cc realsense_camera.cc disk_camera.cc usb_camera.cc)
+add_library(camera imx296_camera.cc streamer.cc realsense_camera.cc disk_camera.cc usb_camera.cc cscore_streamer.cc)
 find_package(realsense2 REQUIRED)
 target_link_libraries(camera PUBLIC ${OpenCV_LIBS} realsense2::realsense2 cscore)

src/localization/CMakeLists.txt

@@ -3,3 +3,5 @@ cmake_minimum_required(VERSION 3.10)
 add_library(localization simple_kalman.cc tag_estimator.cc position_sender.cc pose_estimator.cc)
 target_include_directories(localization PUBLIC /usr/local/cuda/include)
 target_link_libraries(localization PUBLIC ${OpenCV_LIBS} Eigen3::Eigen 971apriltag ntcore apriltag nlohmann_json::nlohmann_json wpilibc kalman-cpp)
+
+message(STATUS "EIGEN FOUND IN LOCALIZATION: ${Eigen3_VERSION}")

third_party/971apriltag/CMakeLists.txt

@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.10)
 include_directories(. /usr/local/cuda/include ${OpenCV_INCLUDE_DIRS})
 
 find_package(wpilib REQUIRED)
+message(STATUS "Eigen version found in 971apriltag: ${Eigen3_VERSION}")
 
 add_library(971apriltag_dep STATIC apriltag.c)