cmake_minimum_required( VERSION 2.8 )
project( UnitreeCameraSDK )

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bins/)

find_package(OpenCV 4 REQUIRED)
if(OpenCV_FOUND)
    include_directories(${OpenCV_INCLUDE_DIR})
    message(STATUS "OpenCV ${OpenCV_VERSION} FOUND")
    message(STATUS ${OpenCV_LIBS})
    if(${OpenCV_VERSION_MAJOR} EQUAL 4)
        add_definitions(-DOPENCV_VERSION_4)
    elseif(${OpenCV_VERSION_MAJOR} LESS 4)
        add_definitions(-DOPENCV_VERSION_3)
    endif()
else()
    message(FATAL_ERROR "OpenCV Library Not Found")
endif()

if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/amd64/)
link_directories(${PROJECT_SOURCE_DIR}/lib/amd64/)
else()
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/arm64/)
link_directories(${PROJECT_SOURCE_DIR}/lib/arm64/)
endif()

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")

# add_subdirectory(${PROJECT_SOURCE_DIR}/examples)

find_package(PythonInterp REQUIRED)
find_package(PythonLibs REQUIRED)
include_directories(${PYTHON_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include)

add_subdirectory(pybind11)
set(SDKLIBS unitree_camera tstc_V4L2_xu_camera udev systemlog)

# # Find the sources for each library
# foreach(lib ${SDKLIBS})
#     find_library(${lib}_LIBRARY NAMES ${lib} HINTS ${PROJECT_SOURCE_DIR}/lib/amd64/)
#     get_filename_component(${lib}_SOURCES "${${lib}_LIBRARY}" DIRECTORY)
# endforeach()

# # Build each library as a shared library
# foreach(lib ${SDKLIBS})
#     add_library(${lib} SHARED ${${lib}_SOURCES})
#     set_target_properties(${lib} PROPERTIES LINKER_LANGUAGE CXX)
# endforeach()

pybind11_add_module(camera_interface cam_pyinterface.cpp)
target_link_libraries(camera_interface ${SDKLIBS} ${PYTHON_LIBRARIES} ${OpenCV_LIBS})

# add_executable(camera_python_test cam_pyinterface.cpp)
# target_link_libraries(camera_python_test ${SDKLIBS} ${PYTHON_LIBRARIES} ${OpenCV_LIBS})