cmake_minimum_required(VERSION 3.24)
project(vision_anti_pinch LANGUAGES CXX CUDA)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CUDA_STANDARD 17)
set(CMAKE_CUDA_ARCHITECTURES 87)
find_package(CUDAToolkit REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs highgui videoio)
find_package(Threads REQUIRED)
find_path(TENSORRT_INCLUDE_DIR NvInfer.h PATH_SUFFIXES aarch64-linux-gnu REQUIRED)
find_library(TENSORRT_LIBRARY nvinfer REQUIRED)
add_library(camera_risk_core
  src/trt_engine.cpp src/pose_engine.cu src/gpu_preprocess.cu src/uyvy_converter.cu
  src/detector.cpp src/v4l2_capture.cpp src/camera.cpp src/can_comm.cpp src/can_state.cpp
  src/door_risk.cpp src/door_zone.cpp src/camera_pipeline.cpp src/output_writer.cpp src/result_renderer.cpp src/config.cpp src/serialization.cpp)
target_include_directories(camera_risk_core PUBLIC include third_party ${TENSORRT_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS})
target_link_libraries(camera_risk_core PUBLIC ${TENSORRT_LIBRARY} ${OpenCV_LIBS} Threads::Threads CUDA::cudart CUDA::nppc CUDA::nppig CUDA::nppidei CUDA::nppicc
  "${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so")
target_compile_options(camera_risk_core PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wall;-Wextra;-Wpedantic>)
add_library(camera_risk_visualizer src/visualizer.cpp)
target_link_libraries(camera_risk_visualizer PUBLIC camera_risk_core)
add_executable(camera_risk src/main.cpp)
target_link_libraries(camera_risk PRIVATE camera_risk_visualizer)
set_target_properties(camera_risk PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")