cmake_minimum_required(VERSION 3.24)
if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
  set(CMAKE_CUDA_ARCHITECTURES native)
endif()
project(camera_risk LANGUAGES CXX CUDA)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CUDA_STANDARD 17)
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 x86_64-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/can_bus.cpp src/detector.cpp src/door_risk.cpp src/camera.cpp src/camera_pipeline.cpp src/inference_session.cpp src/serialization.cpp src/output_writer.cpp src/result_renderer.cpp src/config.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)
target_include_directories(camera_risk_core SYSTEM PRIVATE third_party/zlg)
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_library(camera_risk_mask_annotator src/door_mask_annotator.cpp)
target_include_directories(camera_risk_mask_annotator PUBLIC include third_party ${OpenCV_INCLUDE_DIRS})
target_link_libraries(camera_risk_mask_annotator PUBLIC ${OpenCV_LIBS})
target_compile_options(camera_risk_mask_annotator PRIVATE -Wall -Wextra -Wpedantic)
add_executable(camera_risk src/main.cpp)
target_link_libraries(camera_risk PRIVATE camera_risk_visualizer)
add_executable(door_mask_tool src/door_mask_tool.cpp)
target_link_libraries(door_mask_tool PRIVATE camera_risk_core camera_risk_mask_annotator)
target_compile_options(door_mask_tool PRIVATE -Wall -Wextra -Wpedantic)

# Reference USBCANFD SDK is shipped with the standalone Orin package.
target_link_libraries(camera_risk_core PUBLIC "${CMAKE_SOURCE_DIR}/orin/lib/libusbcanfd.so"
  "-Wl,--no-as-needed" "${CMAKE_SOURCE_DIR}/orin/lib/libusb-1.0.so" "-Wl,--as-needed")
set_target_properties(camera_risk door_mask_tool PROPERTIES BUILD_WITH_INSTALL_RPATH TRUE INSTALL_RPATH "$ORIGIN/../lib;$ORIGIN/../orin/lib;/usr/local/cuda/lib64")
# Keep the bundled SDK/libusb pair together even with a desktop LD_LIBRARY_PATH.
target_link_options(camera_risk PRIVATE "-Wl,--disable-new-dtags")
target_link_options(door_mask_tool PRIVATE "-Wl,--disable-new-dtags")