cmake_minimum_required(VERSION 3.0.2)
project(vx_pc)
set (CMAKE_CXX_STANDARD 11)

# Build vxio_node

find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs cv_bridge) 
find_package(OpenCV 4 REQUIRED)
catkin_package( CATKIN_DEPENDS sensor_msgs cv_bridge)

add_executable(${PROJECT_NAME}_node src/vx_pc_node.cpp)


include_directories(
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_INCLUDE_DIRS})

# Build visionwork demo files

find_package(VisionWorks REQUIRED)
add_executable(${PROJECT_NAME}_exe src/main_stereo_matching.cpp src/stereo_matching.cpp src/color_disparity_graph.hpp)

target_include_directories(${PROJECT_NAME}_exe PRIVATE /usr/share/visionworks/sources/nvxio/include)
link_directories("/usr/local/cuda/targets/aarch64-linux/lib" "/usr/share/visionworks/sources/libs/aarch64/linux/release")

# set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} "-lvisionworks -lovx -lnvx -lpthread")
# set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGE} "-lgstpbutils-1.0 -lgstapp-1.0 -lgstbase-1.0 -lgstreamer-1.0 -lgobject-2.0 -lglib-2.0")
# set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGE} "/usr/share/visionworks/sources/3rdparty/glfw3/libs/libglfw3.a")
# set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGE} "-lXrandr -lXi -lXxf86vm -lX11 -lGL")

# Ref https://forums.developer.nvidia.com/t/linking-nvxio-ovxio-libraries-into-own-cmake-project/82627/7
# cmake_minimum_required (VERSION 2.8)
# project(VisionWorks)
# set (CMAKE_CXX_STANDARD 11)
# find_package(VisionWorks REQUIRED)
# add_executable(app topic_1064190.cpp)
# target_include_directories(app PRIVATE /usr/share/visionworks/sources/nvxio/include)
# target_link_libraries(app 
# -L/usr/share/visionworks/sources/libs/aarch64/linux/release 
# -lnvx -lovx -lglfw -lgstreamer-1.0 -lgobject-2.0 -lglib-2.0 
# ${VisionWorks_LIBRARIES})

target_link_libraries(${PROJECT_NAME}_exe  
-L/usr/share/visionworks/sources/libs/aarch64/linux/release 
-lnvx -lovx -lglfw -lgstreamer-1.0 -lgobject-2.0 -lglib-2.0 
${VisionWorks_LIBRARIES})