CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
PROJECT(ZED_Depth_Sensing)

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 ${ZED_CUDA_VERSION} REQUIRED)
find_package(OpenCV REQUIRED)
find_package(GLUT REQUIRED)
find_package(GLEW REQUIRED)
SET(OpenGL_GL_PREFERENCE GLVND)
find_package(OpenGL REQUIRED)

include_directories(${ZED_INCLUDE_DIRS})
message(STATUS "ZED include dir: ${ZED_INCLUDE_DIRS}")
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${GLEW_INCLUDE_DIRS})
include_directories(${GLUT_INCLUDE_DIR})
include_directories(${CUDA_INCLUDE_DIRS})
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

link_directories(${ZED_LIBRARY_DIR})
link_directories(${GLEW_LIBRARY_DIRS})
link_directories(${GLUT_LIBRARY_DIRS})
link_directories(${OpenGL_LIBRARY_DIRS})
link_directories(${CUDA_LIBRARY_DIRS})
link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)

IF (CMAKE_SYSTEM_PROCESSOR MATCHES aarch64)
    add_definitions(-DJETSON_STYLE)
ENDIF()

FILE(GLOB_RECURSE SRC_FILES src/*.cpp)
FILE(GLOB_RECURSE HDR_FILES include/*.hpp)

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} 
                        ${OPENGL_LIBRARIES}
                        ${GLUT_LIBRARIES}
                        ${GLEW_LIBRARIES}
                        ${OpenCV_LIBRARIES})

# Test executables
ADD_EXECUTABLE(test_opengl test_opengl.cpp)
TARGET_LINK_LIBRARIES(test_opengl
                        ${OPENGL_LIBRARIES}
                        ${GLUT_LIBRARIES}
                        ${GLEW_LIBRARIES})

ADD_EXECUTABLE(test_points test_points.cpp)
TARGET_LINK_LIBRARIES(test_points
                        ${OPENGL_LIBRARIES}
                        ${GLUT_LIBRARIES}
                        ${GLEW_LIBRARIES})

if(INSTALL_SAMPLES)
    LIST(APPEND SAMPLE_LIST ${PROJECT_NAME})
    SET(SAMPLE_LIST "${SAMPLE_LIST}" PARENT_SCOPE)
endif()