cmake_minimum_required(VERSION 3.27)
project(DepthGuide)

set(CMAKE_CXX_STANDARD 23)

add_executable(${PROJECT_NAME} src/main.cpp
        src/ai/impl/fast_sam.cpp
        src/image_process/impl/camera_calibrator.cpp
        src/image_process/impl/image_process_ui.cpp
        src/image_process/impl/process_funcs.cpp
        src/image_process/impl/versatile_convertor.cpp
        src/impl/main_impl.cpp
        src/impl/app_base.cpp
        src/impl/apps/app_selector/app_selector.cpp
        src/impl/apps/debug/app_debug.cpp
        src/impl/apps/depth_guide/depth_guide.cpp
        src/impl/apps/depth_guide_v2/depth_guide_v2.cpp
        src/impl/apps/endo_guide/endo_guide.cpp
        src/impl/apps/remote_ar/remote_ar.cpp
        src/impl/apps/remote_ar/remote_ar_v2.cpp
        src/impl/apps/scene_player/scene_player.cpp
        src/impl/apps/tiny_player/tiny_player.cpp
        src/codec/image_codec.cpp
        src/codec/image_decoder.cpp
        src/codec/image_encoder.cpp
        src/codec/mesh_decoder.cpp
        src/codec/mesh_encoder.cpp
        src/codec/pc_decoder.cpp
        src/codec/pc_encoder.cpp
        src/codec/scene_decoder.cpp
        src/codec/scene_encoder.cpp
        src/core/impl/event_timer.cpp
        src/core/impl/image_utility_v2.cpp
        src/core/impl/math_helper.cpp
#        src/core/impl/memory_pool.cpp
#        src/core/impl/object_manager.cpp
        src/core/impl/pc_utility.cpp
        src/module_v3/registration.cpp
        src/module/experiment/impl/calib_eval.cpp
        src/module/guidance/impl/acl_guide.cpp
        src/module/guidance/impl/cursor_guide.cpp
        src/module/guidance/impl/guide_helper.cpp
        src/module/impl/augment_manager.cpp
        src/module/impl/augment_manager_v2.cpp
        src/module/impl/camera_augment_helper.cpp
        src/module/impl/camera_augment_helper_v2.cpp
        src/module/impl/depth_guide_controller.cpp
        src/module/impl/image_augment_helper.cpp
        src/module/impl/image_augment_helper_v2.cpp
        src/module/impl/image_player.cpp
        src/module/impl/image_saver.cpp
        src/module/impl/image_viewer.cpp
        src/module/impl/image_streamer.cpp
        src/module/impl/pc_viewer.cpp
        src/module/impl/sophiar_monitor.cpp
        src/network_v3/fec_receive_helper.cpp
        src/network_v3/sender_tcp.cpp
        src/network_v3/sender_udp_fec.cpp
        #        src/network_v3/receiver_tcp.cpp
        src/network_v3/receiver_udp_fec.cpp
        #        src/network/impl/crc_checker.cpp
        src/network/impl/fragment/third_party/rs.c
        #        src/network/impl/fragment/frag_basic.cpp
        #        src/network/impl/fragment/frag_rs.cpp
        #        src/network/impl/multiplexer.cpp
        #        src/network/impl/network.cpp
        src/render_v3/scene_render.cpp
        src/render/impl/render_line.cpp
        src/render/impl/render_mesh.cpp
        src/render/impl/render_pc.cpp
        src/render/impl/render_scene.cpp
        src/render/impl/render_texture.cpp
        src/render/impl/render_tools.cpp
        src/render/impl/render_utility.cpp)

add_subdirectory(src/core_v2)
add_subdirectory(src/device_v5)
add_subdirectory(src/image_process_v5)
#add_subdirectory(src/render_osg)
add_subdirectory(src/module_v5)

target_include_directories(${PROJECT_NAME} PRIVATE src)

#target_compile_options(${PROJECT_NAME} PRIVATE -g -pg)
#target_link_options(${PROJECT_NAME} PRIVATE -g -pg)

#target_compile_options(${PROJECT_NAME} PRIVATE -fsanitize=leak)
#target_link_options(${PROJECT_NAME} PRIVATE -fsanitize=leak)

# image process sub-module
add_subdirectory(src/image_process/cuda_impl)
target_link_libraries(${PROJECT_NAME} ImageProcessCuda)
#target_sources(${PROJECT_NAME} PRIVATE
#        src/image_process_v3/image_process.cpp)

# old image process sub-module
add_subdirectory(src/image_process_v3/cuda_impl)
target_link_libraries(${PROJECT_NAME} ImageProcessCudaV3)
target_sources(${PROJECT_NAME} PRIVATE
        src/image_process_v3/image_process.cpp)

find_package(PkgConfig REQUIRED)

# CUDA config
find_package(CUDAToolkit REQUIRED)
target_link_libraries(${PROJECT_NAME} CUDA::cudart CUDA::cuda_driver)

# CCCL config
find_package(CCCL REQUIRED)
target_link_libraries(${PROJECT_NAME} CCCL::CCCL)

# spdlog config
find_package(spdlog REQUIRED)
target_link_libraries(${PROJECT_NAME} spdlog::spdlog)
target_compile_definitions(${PROJECT_NAME} PRIVATE SPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE)

# OpenCV config
cmake_policy(SET CMP0146 OLD)
find_package(OpenCV REQUIRED COMPONENTS cudaimgproc cudawarping calib3d imgcodecs opencv_cudastereo cudaoptflow)
target_include_directories(${PROJECT_NAME} PRIVATE ${OpenCV_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})

# glfw config
if (WIN32)
    set(GLFW_INCLUDE_DIR C:/BuildEssentials/VS2019Libs/include)
    set(GLFW_LIB_DIR C:/BuildEssentials/VS2019Libs/lib)
    find_library(GLFW_LIB glfw3 HINTS ${GLFW_LIB_DIR})
    target_include_directories(${PROJECT_NAME} PRIVATE ${GLFW_INCLUDE_DIR})
    target_link_libraries(${PROJECT_NAME} ${GLFW_LIB})
else ()
    find_package(glfw3 REQUIRED)
    target_link_libraries(${PROJECT_NAME} glfw)
endif ()

# glad config
if (WIN32)
    set(GLAD_DIR C:/BuildEssentials/Library/glad)
else ()
    set(GLAD_DIR /home/tpx/ext/src/glad)
endif ()
target_include_directories(${PROJECT_NAME} PRIVATE ${GLAD_DIR}/include)
target_sources(${PROJECT_NAME} PRIVATE ${GLAD_DIR}/src/gl.c)

# glm config
find_package(glm REQUIRED)
target_link_libraries(${PROJECT_NAME} glm::glm)
target_compile_definitions(${PROJECT_NAME} PRIVATE GLM_ENABLE_EXPERIMENTAL)

# imgui config
if (WIN32)
    set(IMGUI_DIR C:/BuildEssentials/Library/imgui-1.89.5)
else ()
    set(IMGUI_DIR /home/tpx/ext/src/imgui-1.91.8)
endif ()
set(IMGUI_BACKENDS_DIR ${IMGUI_DIR}/backends)
target_include_directories(${PROJECT_NAME} PRIVATE ${IMGUI_DIR} ${IMGUI_BACKENDS_DIR})
set(IMGUI_IMPL_FILES ${IMGUI_DIR}/imgui.cpp
        ${IMGUI_DIR}/imgui_draw.cpp
        ${IMGUI_DIR}/imgui_tables.cpp
        ${IMGUI_DIR}/imgui_widgets.cpp
        ${IMGUI_DIR}/imgui_demo.cpp
        ${IMGUI_BACKENDS_DIR}/imgui_impl_glfw.cpp
        ${IMGUI_BACKENDS_DIR}/imgui_impl_opengl3.cpp)
target_sources(${PROJECT_NAME} PRIVATE ${IMGUI_IMPL_FILES})
foreach(source_file ${IMGUI_IMPL_FILES})
    set_source_files_properties(${source_file} PROPERTIES COMPILE_OPTIONS "-O3")
    set_source_files_properties(${source_file} PROPERTIES COMPILE_OPTIONS "-DNDEBUG")
endforeach()

# ImGuiFileDialog config
set(ImGuiFileDialog_DIR /home/tpx/ext/src/ImGuiFileDialog-0.6.7)
add_subdirectory(${ImGuiFileDialog_DIR} third_party/imgui_file_dialog)
target_include_directories(ImGuiFileDialog PRIVATE ${IMGUI_DIR})
target_link_libraries(${PROJECT_NAME} ImGuiFileDialog)

# imGuIZMO config
set(IMGUIZMO_DIR /home/tpx/ext/src/imGuIZMO.quat-3.0/imGuIZMO.quat)
target_include_directories(${PROJECT_NAME} PRIVATE ${IMGUIZMO_DIR})
target_sources(${PROJECT_NAME} PRIVATE
        ${IMGUIZMO_DIR}/imGuIZMOquat.cpp)
target_compile_definitions(${PROJECT_NAME} PRIVATE
        IMGUIZMO_IMGUI_FOLDER=${IMGUI_DIR}/)

# NanoVG config
set(NANOVG_DIR /home/tpx/ext/src/nanovg-f93799c)
target_include_directories(${PROJECT_NAME} PRIVATE ${NANOVG_DIR}/src)
target_sources(${PROJECT_NAME} PRIVATE ${NANOVG_DIR}/src/nanovg.c)

# yaml-cpp
find_package(yaml-cpp REQUIRED)
target_include_directories(${PROJECT_NAME} PRIVATE ${YAML_CPP_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${YAML_CPP_LIBRARIES})
if (WIN32)
    target_link_directories(${PROJECT_NAME} PRIVATE C:/BuildEssentials/VS2019Libs/lib)
endif ()

# JSON config
find_package(nlohmann_json REQUIRED)
target_link_libraries(${PROJECT_NAME} nlohmann_json::nlohmann_json)

# Boost config
find_package(Boost REQUIRED COMPONENTS iostreams)
target_include_directories(${PROJECT_NAME} PRIVATE ${Boost_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})

# VTK config
find_package(VTK REQUIRED)
target_link_libraries(${PROJECT_NAME} ${VTK_LIBRARIES})
vtk_module_autoinit(TARGETS ${PROJECT_NAME} MODULES ${VTK_LIBRARIES})
target_sources(${PROJECT_NAME} PRIVATE src/render_v3/vtk_viewer.cpp)

# PCL config
find_package(PCL REQUIRED)
target_include_directories(${PROJECT_NAME} PRIVATE ${PCL_INCLUDE_DIRS})
target_link_directories(${PROJECT_NAME} PRIVATE ${PCL_LIBRARY_DIRS})
target_compile_definitions(${PROJECT_NAME} PRIVATE ${PCL_DEFINITIONS})
target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})

# Eigen3 config
find_package(Eigen3 REQUIRED)
target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)

# Orbbec config
set(OrbbecSDK_ROOT_DIR /home/tpx/ext/src/OrbbecSDK_v1.10.12/SDK)
set(OrbbecSDK_LIBRARY_DIRS ${OrbbecSDK_ROOT_DIR}/lib)
set(OrbbecSDK_INCLUDE_DIR ${OrbbecSDK_ROOT_DIR}/include)
target_include_directories(${PROJECT_NAME} PRIVATE ${OrbbecSDK_INCLUDE_DIR})
target_link_directories(${PROJECT_NAME} PRIVATE ${OrbbecSDK_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME} OrbbecSDK)
target_sources(${PROJECT_NAME} PRIVATE
        src/device/impl/orb_camera.cpp
        src/device/impl/orb_camera_ui.cpp)

# MVS config
if (WIN32)
    set(MVS_DIR "C:/BuildEssentials/Library/MVS/Development")
    set(MVS_INCLUDE_DIR ${MVS_DIR}/Includes)
    set(MVS_LIB_DIR ${MVS_DIR}/Libraries/win64)
else ()
    set(MVS_DIR /opt/MVS)
    set(MVS_INCLUDE_DIR ${MVS_DIR}/include)
    set(MVS_LIB_DIR ${MVS_DIR}/lib/64)
endif ()
find_library(MVS_LIB MvCameraControl HINTS ${MVS_LIB_DIR})
target_include_directories(${PROJECT_NAME} PRIVATE ${MVS_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${MVS_LIB})
target_sources(${PROJECT_NAME} PRIVATE
        src/device/impl/mvs_camera.cpp
        src/device/impl/mvs_camera_ui.cpp)

# libuvc config
find_package(libuvc REQUIRED)
target_link_libraries(${PROJECT_NAME} LibUVC::UVCShared LibUSB::LibUSB)
target_sources(${PROJECT_NAME} PRIVATE
        src/device/impl/uvc_camera.cpp
        src/device/impl/uvc_camera_ui.cpp)

# Crypto++ config
set(CRYPTOPP_DIR /home/tpx/usr)
set(CRYPTOPP_LIB_DIR ${CRYPTOPP_DIR}/lib)
find_library(CRYPTOPP_LIB cryptopp HINTS ${CRYPTOPP_LIB_DIR})
set(CRYPTOPP_INCLUDE_DIR ${CRYPTOPP_DIR}/include)
target_include_directories(${PROJECT_NAME} PRIVATE ${CRYPTOPP_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${CRYPTOPP_LIB})

# xxHash config
pkg_search_module(XXHASH REQUIRED libxxhash)
target_include_directories(${PROJECT_NAME} PRIVATE ${XXHASH_INCLUDE_DIRS})
target_link_directories(${PROJECT_NAME} PRIVATE /home/tpx/usr/lib)
target_link_libraries(${PROJECT_NAME} ${XXHASH_LIBRARIES})

# NvEnc config
if (WIN32)
    set(NVCODEC_DIR C:/BuildEssentials/CUDA/Video_Codec_SDK_12.0.16)
    set(NVENC_LIB_DIR ${NVCODEC_DIR}/Lib/x64)
    find_library(NVENC_LIB nvencodeapi HINTS ${NVENC_LIB_DIR})
else ()
    set(NVCODEC_DIR /home/tpx/ext/src/Video_Codec_SDK_13.0.19)
    find_library(NVENC_LIB nvidia-encode)
endif ()
set(NVCODEC_INCLUDE_DIR ${NVCODEC_DIR}/Interface)
target_include_directories(${PROJECT_NAME} PRIVATE ${NVCODEC_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${NVENC_LIB})
target_sources(${PROJECT_NAME} PRIVATE src/codec/encoder_nvenc.cpp)

# NvDec config
if (WIN32)
    set(NVCODEC_DIR C:/BuildEssentials/CUDA/Video_Codec_SDK_12.0.16)
    find_library(NVDEC_LIB nvcuvid HINTS ${NVCODEC_DIR}/Lib/x64)
else ()
    set(NVCODEC_DIR /home/tpx/ext/src/Video_Codec_SDK_13.0.19)
    find_library(NVDEC_LIB nvcuvid)
endif ()
set(NVCODEC_INCLUDE_DIR ${NVCODEC_DIR}/Interface)
target_include_directories(${PROJECT_NAME} PRIVATE ${NVCODEC_INCLUDE_DIR})
target_link_libraries(${PROJECT_NAME} ${NVDEC_LIB})
target_sources(${PROJECT_NAME} PRIVATE src/codec/decoder_nvdec.cpp)

# nvJPEG config
target_link_libraries(${PROJECT_NAME} CUDA::nvjpeg)
#target_sources(${PROJECT_NAME} PRIVATE src/codec/encoder_jpeg.cpp)
#target_sources(${PROJECT_NAME} PRIVATE src/codec/decoder_nvjpeg.cpp)

# assimp config
find_package(assimp REQUIRED)
target_link_libraries(${PROJECT_NAME} assimp::assimp)

# ZeroMQ config
find_package(azmq REQUIRED)
target_link_libraries(${PROJECT_NAME} Azmq::azmq)

# BS::thread_pool config
set(BSTP_DIR /home/tpx/ext/src/thread-pool-4.1.0)
target_include_directories(${PROJECT_NAME} PRIVATE ${BSTP_DIR}/include)

# Sophiar2 config
if (WIN32)
    set(Sophiar2DIR D:/Program/Robot/Sophiar2)
else ()
    set(Sophiar2DIR /home/tpx/ext/project/Sophiar2)
endif ()
add_subdirectory(${Sophiar2DIR}/src Sophiar2Lib)
target_include_directories(${PROJECT_NAME} PRIVATE ${Sophiar2DIR}/src)
target_link_libraries(${PROJECT_NAME} Sophiar2Lib)
add_compile_definitions(EIGEN_DONT_VECTORIZE)
add_compile_definitions(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)