cmake_minimum_required(VERSION 3.5)
project(rpt2d_wrapper_cpp)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rpt_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)

### 3) ONNX Runtime
# for desktop
include_directories(/onnxruntime/include/
                    /onnxruntime/include/onnxruntime/core/session/
                    /onnxruntime/include/onnxruntime/core/providers/tensorrt/)
link_directories(/onnxruntime/build/Linux/Release/)
# for jetson
include_directories(/usr/local/include/onnxruntime/)
link_directories(/usr/local/lib/)

add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
ament_target_dependencies(rpt2d_wrapper rclcpp sensor_msgs rpt_msgs cv_bridge)
target_include_directories(rpt2d_wrapper PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

target_link_libraries(rpt2d_wrapper
  ${OpenCV_LIBS}
  onnxruntime_providers_tensorrt
  onnxruntime_providers_shared
  onnxruntime_providers_cuda
  onnxruntime
)

set_target_properties(rpt2d_wrapper PROPERTIES
  BUILD_WITH_INSTALL_RPATH TRUE
  INSTALL_RPATH "/onnxruntime/build/Linux/Release"
)

install(TARGETS rpt2d_wrapper
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()