CMakeLists.txt

cmake_minimum_required(VERSION 3.16)

project(UChariot-Vision)

set(CMAKE_BUILD_TYPE Debug)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -pthread -std=c++17 -Wno-format")
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_CXX_STANDARD 17)

# cmake -DCMAKE_TOOLCHAIN_FILE=../toolchain.cmake ..

set(SRCS 
    src/main.cpp
    src/Utils.cpp
    # src/MessageQueue.cpp
    src/NetworkConnection.cpp
    src/SimCamera.cpp
    src/Display.cpp
    src/Detection.cpp
)

find_package(Eigen3 CONFIG REQUIRED)
find_package( OpenCV CONFIG REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )
set(LIBS Eigen3::Eigen ${OpenCV_LIBS})

if (${LOCAL_SIM})
    message("Compiling for local simulation")
    add_compile_definitions(LOCAL_SIM=true)
    set(SIMULATION true)
else()

    list(APPEND SRCS src/Detector.cpp)

    find_package(CUDA REQUIRED)
    include_directories(${CUDA_INCLUDE_DIRS})
    find_package(jetson-utils)
    find_package(jetson-inference)
    find_package(VPI)
    link_directories(/usr/lib/aarch64-linux-gnu/tegra)
    list(APPEND LIBS ${CUDA_LIBRARIES} jetson-inference vpi)

endif()

if (${SIMULATION})
    message("Compiling for simulation")
    add_compile_definitions(SIMULATION=true)
else()
    list(APPEND SRCS src/Camera.cpp)

    find_package(realsense2 REQUIRED)
    list(APPEND LIBS ${realsense2_LIBRARY})
endif()

add_executable(uChariotVision ${SRCS})
target_link_libraries(uChariotVision ${LIBS})
target_include_directories(uChariotVision PUBLIC ./include/)