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CMakeLists.txt

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+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
+PROJECT(ZED_BodyFusion)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+SET(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+option(LINK_SHARED_ZED "Link with the ZED SDK shared executable" ON)
+
+if (NOT LINK_SHARED_ZED AND MSVC)
+    message(FATAL_ERROR "LINK_SHARED_ZED OFF : ZED SDK static libraries not available on Windows")
+endif()
+
+find_package(ZED REQUIRED)
+find_package(CUDA REQUIRED)
+find_package(GLUT REQUIRED)
+find_package(GLEW REQUIRED)
+SET(OpenGL_GL_PREFERENCE GLVND)
+find_package(OpenGL REQUIRED)
+find_package(OpenCV)
+
+include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${ZED_INCLUDE_DIRS})
+include_directories(${GLEW_INCLUDE_DIRS})
+include_directories(${GLUT_INCLUDE_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+link_directories(${ZED_LIBRARY_DIR})
+link_directories(${CUDA_LIBRARY_DIRS})
+link_directories(${GLEW_LIBRARY_DIRS})
+link_directories(${GLUT_LIBRARY_DIRS})
+link_directories(${OpenGL_LIBRARY_DIRS})
+link_directories(${OpenCV_LIBRARY_DIRS})
+
+IF(NOT WIN32)
+    SET(SPECIAL_OS_LIBS "pthread")
+
+    IF (CMAKE_SYSTEM_PROCESSOR MATCHES aarch64)
+	    add_definitions(-DJETSON_STYLE)
+    ENDIF()
+ENDIF()
+
+FILE(GLOB_RECURSE SRC_FILES src/*.c*)
+FILE(GLOB_RECURSE HDR_FILES include/*.h*)
+
+add_executable(${PROJECT_NAME} ${HDR_FILES} ${SRC_FILES})
+
+if (LINK_SHARED_ZED)
+    SET(ZED_LIBS ${ZED_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_CUDART_LIBRARY})
+else()
+    SET(ZED_LIBS ${ZED_STATIC_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${CUDA_LIBRARY})
+endif()
+
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${ZED_LIBS} ${UTILS_LIB} ${SPECIAL_OS_LIBS} ${OpenCV_LIBRARIES} ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES} ${GLEW_LIBRARIES})
+
+if(INSTALL_SAMPLES)
+    LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})
+    SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE)
+endif()