无人车三维环境下路径规划系统C++实现源码.zip

cmake_minimum_required(VERSION 3.5) project(3dplan VERSION 0.1 LANGUAGES CXX) set(CMAKE_INCLUDE_CURRENT_DIR ON) set(CMAKE_AUTOUIC ON) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED ON) #如果要生成debug版本 SET(CMAKE_BUILD_TYPE "Debug") #如果要生成release版本 #SET(CMAKE_BUILD_TYPE "Release") #添加的支持debug和release支持 SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb") #SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall") find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets LinguistTools DataVisualization OpenGL) find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets LinguistTools DataVisualization OpenGL) find_package(Python3 COMPONENTS Interpreter Development REQUIRED) find_package(Python3 COMPONENTS NumPy qt-material) find_package(sbpl REQUIRED) #find_package(opengl REQUIRED) include_directories( # 包含路径后，可以直接引入头文件名字而不需要路径了 ${catkin_INCLUDE_DIRS} data plot3d include planner ) add_subdirectory(spiral_constraint) find_package(Eigen3 REQUIRED) #find_package(Matplot++ REQUIRED) include_directories() set(TS_FILES 3dplan_zh_CN.ts) set(PROJECT_SOURCES main.cpp mainwindow.cpp include/mainwindow.h include/json.hpp include/utils.hpp src/utils.cpp data/readtiff.cpp data/readtiff.h data/readprimitives.cpp data/readprimitives.h plot3d/surfacegraph.cpp plot3d/surfacegraph.h plot3d/QPlot3D.cpp plot3d/QPlot3D.h planner/planner.h planner/planner.cpp # environment/environment_navxyztheta.cpp # environment/environment_navxyztheta.h mainwindow.ui ${TS_FILES} ) if(${QT_VERSION_MAJOR} GREATER_EQUAL 6) qt_add_executable(3dplan MANUAL_FINALIZATION ${PROJECT_SOURCES} ) # Define target properties for Android with Qt 6 as: # set_property(TARGET 3dplan APPEND PROPERTY QT_ANDROID_PACKAGE_SOURCE_DIR # ${CMAKE_CURRENT_SOURCE_DIR}/android) # For more information, see https://doc.qt.io/qt-6/qt-add-executable.html#target-creation qt_create_translation(QM_FILES ${CMAKE_SOURCE_DIR} ${TS_FILES}) else() if(ANDROID) add_library(3dplan SHARED ${PROJECT_SOURCES} ) # Define properties for Android with Qt 5 after find_package() calls as: # set(ANDROID_PACKAGE_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/android") else() add_executable(3dplan ${PROJECT_SOURCES} ) endif() qt5_create_translation(QM_FILES ${CMAKE_SOURCE_DIR} ${TS_FILES}) endif() target_link_libraries(3dplan PRIVATE Qt${QT_VERSION_MAJOR}::Widgets Qt${QT_VERSION_MAJOR}::DataVisualization Qt${QT_VERSION_MAJOR}::OpenGL -lGL gdal MPs sbpl Eigen3::Eigen # Matplot++::matplot Python3::Python Python3::NumPy # Python3::qt-material ) set_target_properties(3dplan PROPERTIES MACOSX_BUNDLE_GUI_IDENTIFIER my.example.com MACOSX_BUNDLE_BUNDLE_VERSION ${PROJECT_VERSION} MACOSX_BUNDLE_SHORT_VERSION_STRING ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} MACOSX_BUNDLE TRUE WIN32_EXECUTABLE TRUE ) install(TARGETS 3dplan BUNDLE DESTINATION . LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}) if(QT_VERSION_MAJOR EQUAL 6) qt_finalize_executable(3dplan) endif()