# Copyright (c) Huawei Technologies Co., Ltd. 2019. All rights reserved.

# CMake lowest version requirement
cmake_minimum_required(VERSION 3.5.1)

# project information
project(ACL_RESNET50)

set(MODULE_NAME lidar_perception)

# Compile options
add_compile_options(-std=c++14)

# set(CMAKE_CXX_FLAGS_DEBUG "-fPIC -O0 -g -Wall")
# set(CMAKE_CXX_FLAGS_RELEASE "-fPIC -O2 -Wall")
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")

#set(OpenCV_DIR "/home/shahab/crosscompile/opencv-4.5.5/build/install/lib/cmake/opencv4")
#set(OpenCV_DIR )
#set(PCL_DIR "/usr/local/mdc_sdk_llvm/dp_gea/mdc_cross_compiler/sysroot/usr/lib64/cmake/pcl/PCLConfig.cmake")
#set(PCL_DIR "")

#find_package(PCL 1.11 REQUIRED) 
#find_package(OpenCV REQUIRED COMPONENTS core highgui)
# Find the Protocol Buffers package
#find_package(Protobuf REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})


# Header path
include_directories(
    "/usr/local/mdc_sdk_llvm/dp_gea/mdc_cross_compiler/sysroot/usr/include"
    "/usr/local/mdc_sdk_llvm/dp_gea/mdc_cross_compiler/sysroot/usr/local/Ascend/runtime/include/"
    inc/
    ${CMAKE_CURRENT_SOURCE_DIR}/pcl-pcl-1.11.0_aarch64/install/include/pcl-1.11
#    ${OpenCV_DIR}
#    ${PCL_DIR}
)

# if(target STREQUAL "Simulator_Function")
#     add_compile_options(-DFUNC_SIM)
# endif()

# add host lib path
link_directories(
    "/usr/local/mdc_sdk_llvm/dp_gea/mdc_cross_compiler/sysroot/usr/lib64"
    "/usr/local/mdc_sdk_llvm/dp_gea/mdc_cross_compiler/sysroot/usr/local/Ascend/runtime/lib64/"
    ${CMAKE_CURRENT_SOURCE_DIR}/pcl-pcl-1.11.0_aarch64/install/lib
)

file(GLOB_RECURSE SRC_FILES
    ${CMAKE_CURRENT_SOURCE_DIR}/wrappers/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/lidarperceptionservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/lidarservice/*.cpp   
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/canservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/slamservice/*.cpp
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/vedservice/*.cpp 
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/innolidarservice/*.cpp 
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/hesaileftlidarservice/*.cpp 
    ${CMAKE_SOURCE_DIR}/generated/src/jac/ap/hesairightlidarservice/*.cpp 
)


set(Eigen "./eigen-3.4.0")

include_directories(${Eigen})
include_directories(${Eigen}/unsupported)

add_executable(${MODULE_NAME}
			${SRC_FILES}
        src/utils.cpp
        src/model_process.cpp
        src/sample_process.cpp
        src/main.cpp
        src/lidar_processing.cpp)


target_link_libraries(${MODULE_NAME} PRIVATE ascendcl stdc++ pthread 
pcl_common
#pcl_features
pcl_filters
#pcl_io_ply
pcl_io
#pcl_kdtree
#pcl_keypoints
#pcl_ml
#pcl_octree
#pcl_recognition
#pcl_registration
#pcl_sample_consensus
pcl_search
pcl_segmentation
#pcl_stereo
#pcl_surface
#pcl_tracking
common
-llog 
)

target_include_directories(${MODULE_NAME}
        PRIVATE
        ${CMAKE_CURRENT_SOURCE_DIR}/inc
        ${CMAKE_SOURCE_DIR}/generated/includes
        ${CMAKE_SOURCE_DIR}/generated/includes/jac/ap/lidarperceptionservice
        ${CMAKE_SOURCE_DIR}/generated/includes/jac/ap/lidarservice
        ${CMAKE_SOURCE_DIR}/modules/common/inc/ap-cm-wrapper
        ${CMAKE_CURRENT_SOURCE_DIR}/wrappers

        )

#target_link_libraries(${MODULE_NAME} PRIVATE pthread)
target_link_libraries (${MODULE_NAME} PRIVATE ${PCL_LIBRARIES})
target_link_libraries(${MODULE_NAME} PRIVATE ${OpenCV_LIBS})
#target_link_libraries(main PRIVATE protobuf::libprotobuf)