cmake_minimum_required(VERSION 3.5)
project(rpt3d_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(std_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(OpenMP REQUIRED)

# Add RapidPoseTriangulation implementation
set(RAPID_POSE_TRIANGULATION_DIR "/RapidPoseTriangulation")
add_library(rapid_pose_triangulation
${RAPID_POSE_TRIANGULATION_DIR}/rpt/camera.cpp
  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/interface.cpp
  ${RAPID_POSE_TRIANGULATION_DIR}/rpt/triangulator.cpp
)
target_include_directories(rapid_pose_triangulation PUBLIC
  ${RAPID_POSE_TRIANGULATION_DIR}/extras/include
  ${RAPID_POSE_TRIANGULATION_DIR}/rpt
  ${OpenCV_INCLUDE_DIRS}
)
target_link_libraries(rapid_pose_triangulation PUBLIC
  ${OpenCV_LIBS}
  OpenMP::OpenMP_CXX
)
target_compile_options(rapid_pose_triangulation PUBLIC
  -fPIC -O3 -march=native -Wall -Werror -fopenmp -fopenmp-simd
)

# Build the executable
add_executable(rpt3d_wrapper src/rpt3d_wrapper.cpp)
ament_target_dependencies(rpt3d_wrapper rclcpp std_msgs rpt_msgs)
target_include_directories(rpt3d_wrapper PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

target_link_libraries(rpt3d_wrapper
  ${OpenCV_LIBS}
  rapid_pose_triangulation
)

install(TARGETS rpt3d_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()