基于未知物体三维点云特征的机器人六自由度抓取c++源码.zip

# CMakeList.txt: 顶层 CMake 项目文件，在此处执行全局配置 # 并包含子项目。 # cmake_minimum_required(VERSION 3.8) if(POLICY CMP0074) cmake_policy(SET CMP0074 NEW) endif() string(REGEX REPLACE ".*/(.*)" "\\1" CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}) # 定义工程名称，指定语言（默认支持所有） # 该指令隐式定义了两个变量：PROJECT_SOURCE_DIR(指代工程路径)和PROJECT_BINARY_DIR(指代编译路径./build) # 通过$()引用变量 # PROJECT(${CURRENT_FOLDER}) # path # REQUIRED:如果未找到任何内容，则停止处理并显示错误消息 enable_language(CUDA) find_package(CUDA REQUIRED) find_package(PCL REQUIRED) find_package(Python3 COMPONENTS Interpreter Development NumPy REQUIRED) find_package(Torch REQUIRED) # NO_MODULE PATHS "E:/libtorch" NO_DEFAULT_PATH # 变量 set(Python3_ROOT_DIRS "E:/Users/qxc/AppData/Local/Programs/Python/Python38") set(LMI_ROOT_DIRS "E:/LMI/14400-6.0.21.13_SOFTWARE_GO_SDK/GO_SDK") # 头文件搜索路径 include_directories( ${CUDA_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${Python3_INCLUDE_DIRS} ${Python3_ROOT_DIRS}/Lib/site-packages/numpy/core/include "./include/" "E:/Inovance 1.7.5/Release" ${LMI_ROOT_DIRS}/Gocator/GoSdk ${LMI_ROOT_DIRS}/Platform/kApi ) # .lib文件搜索路径 link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) # file #file(GLOB CU_FILES "./src/*.cu") file(GLOB CPP_FILES "./src/*.cpp") file(GLOB LIB_FILES "${LMI_ROOT_DIRS}/lib/win64/*.lib" "E:/Inovance 1.7.5/Release/*.lib") # target # 参数之间用空格或者分号隔开 # 一个文件名为 hello的可执行文件，相关的源文件是file中定义的源文件列表， add_executable(${PROJECT_NAME} ${CPP_FILES} ${CU_FILES}) # .lib文件 target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ${Python3_LIBRARIES} ${TORCH_LIBRARIES} ${LIB_FILES}) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11) MESSAGE("${Python3_INCLUDE_DIRS}") MESSAGE("${TORCH_INCLUDE_DIRS}") MESSAGE("this is ${LIB_FILES}")