SET(execName vision_layer)

CMAKE_MINIMUM_REQUIRED(VERSION 2.4)

if(COMMAND cmake_policy)
    cmake_policy(SET CMP0003 OLD)
    cmake_policy(SET CMP0015 OLD)
endif(COMMAND cmake_policy)

SET(EXECUTABLE_OUTPUT_PATH "./bin")
IF(WIN32) # Windows
    SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
        if (CMAKE_CL_64) # 64 bits
                SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
        else(CMAKE_CL_64) # 32 bits
                message("32bits compilation is no more available with CUDA7.0")
        endif(CMAKE_CL_64)
    SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
    SET(OPENCV_DIR $ENV{OPENCV_DIR})
    SET(Eigen_INCLUDE_DIRS $ENV{EIGEN_DIR})

      find_package(OpenCV 3.1)
ELSE() # Linux
    find_package(ZED 1.0 REQUIRED)
    SET(Eigen_INCLUDE_DIRS "/usr/include/eigen3") ##depends if installed by packet or by own build install
    SET(Eigen_INCLUDE_DIRS_2 "/usr/local/include/eigen3") ##depends if installed by packet or by own build install
    include_directories(${Eigen_INCLUDE_DIRS_2})

##For Jetson, OpenCV4Tegra is based on OpenCV2.4
     exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)
     if ( CMAKE_SYSTEM_NAME2 MATCHES "aarch64" OR CMAKE_SYSTEM_NAME2 MATCHES "armv7l" )
        find_package(OpenCV 2.4)
     else()
      find_package(OpenCV 3.1)
     endif()
ENDIF(WIN32)

# Mandatory
find_package(CUDA REQUIRED)

include_directories(${ZED_INCLUDE_DIRS})
include_directories(${CUDA_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${Eigen_INCLUDE_DIRS})
#include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

link_directories(${ZED_LIBRARY_DIR})
link_directories(${CUDA_LIBRARY_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
link_directories(${CMAKE_CURRENT_SOURCE_DIR}/lib)

SET(SRC_FOLDER src)
FILE(GLOB_RECURSE SRC_FILES "${SRC_FOLDER}/*.cpp")

FILE(GLOB_RECURSE SRC_CU_FOLDER "${SRC_FOLDER}/*.cu")


list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_20,code=sm_20)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_20,code=sm_21)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_30,code=sm_30)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_30,code=sm_32)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_30,code=sm_35)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_50,code=sm_50)
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_50,code=sm_52)


##Check x86/K1/X1
exec_program(uname ARGS -p OUTPUT_VARIABLE CMAKE_SYSTEM_NAME2)

if (NOT CMAKE_SYSTEM_NAME2 MATCHES "armv7l")
list(APPEND CUDA_NVCC_FLAGS -gencode arch=compute_50,code=sm_53) ##not available for K1 (CUDA 6.5)
endif()


set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} -std=c++11)

cuda_add_executable(${execName} ${SRC_FILES} ${SRC_CU_FOLDER})


set_property(TARGET ${execName} PROPERTY OUTPUT_NAME "vision_layer")
add_definitions(-std=c++11)# -m64)

# Add the required libraries for linking:
TARGET_LINK_LIBRARIES(${execName}
            ${ZED_LIBRARIES}
            ${OpenCV_LIBRARIES}
            ${CUDA_LIBRARIES} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY}
            )

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O3" ) # Release Perf mode