project(libsurvive)
cmake_minimum_required(VERSION 3.5)

add_definitions(-DFLT=double -DUSE_DOUBLE)

include_directories(
        redist
        include/libsurvive
        include
)

add_library(survive SHARED
        ./include/libsurvive/poser.h
        ./include/libsurvive/survive_types.h
        ./include/libsurvive/survive_reproject.h
        ./include/libsurvive/survive_imu.h

        ./src/poser_epnp.c
        ./src/ootx_decoder.c
        ./src/survive_playback.c
        ./src/poser_daveortho.c
        ./src/poser_octavioradii.c
        ./src/survive_cal.c
        ./src/survive_default_devices.c
        ./src/poser_charlesslow.c
        ./src/survive_charlesbiguator.c
        ./src/survive_turveybiguator.c
        ./src/survive_statebased_disambiguator.c
        ./src/survive_disambiguator.c
        ./src/poser_sba.c
        ./src/poser_mpfit.c
        ./src/survive_sensor_activations.c
        ./src/survive_usb.c
        ./src/poser_dummy.c
        ./src/survive_process.c
        ./src/survive.c
        ./src/epnp/epnp.c
        ./src/poser_turveytori.c
        ./src/poser_imu.c
        ./src/poser_charlesrefine.c
        ./src/survive_imu.c
        ./src/poser.c
        ./src/survive_reproject.c
        ./src/survive_driverman.c
        ./src/survive_config.c
        ./src/survive_vive.c
        #./src/survive_api.c
        #./include/libsurvive/survive_api.h
        ./redist/puff.c
        ./redist/crc32.c
        ./redist/linmath.c
        ./redist/jsmn.c
        ./redist/glutil.c
        ./redist/minimal_opencv.c
        ./redist/json_helpers.c
        ./redist/jsmntest.c
        ./src/poser_general_optimizer.c
        ./src/survive_reproject.generated.h
        ./redist/mpfit/mpfit.c
        ./src/survive_kalman.h
        ./src/survive_kalman.c
        #./dave/kalman_filter.c
        #./dave/kalman_filter.h
)

add_library(sba ./redist/sba/sba_levmar_wrap.c
        ./redist/sba/sba_chkjac.c
        ./redist/sba/sba_lapack.c
        ./redist/sba/sba_levmar.c
        ./redist/sba/sba_crsm.c
        )

add_library(CNGFX
        ./redist/CNFG3D.c
        ./redist/CNFGXDriver.c
        ./redist/CNFGFunctions.c
        )

list(APPEND CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -Werror=incompatible-pointer-types")
target_link_libraries(survive lapacke cblas m pthread z X11 usb-1.0 sba)

foreach(executable calibrate data_recorder simple_pose_test )
    add_executable(${executable} ${executable}.c )
    target_link_libraries(${executable} survive CNGFX)
endforeach()

add_executable(findoptimalconfig tools/findoptimalconfig/findoptimalconfig.cc)
target_link_libraries(findoptimalconfig survive)

add_executable(showreproject tools/showreproject/showreproject.cc)
target_link_libraries(showreproject survive opencv_core opencv_highgui opencv_imgproc opencv_imgcodecs)

add_executable(check_generated tools/generate_reprojection_functions/check_generated.c)
target_link_libraries(check_generated survive )