cmake_minimum_required(VERSION 3.12)

set(THIS_PROJECT "MyGst")
project(${THIS_PROJECT})

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(THIS_ROOT ${CMAKE_CURRENT_SOURCE_DIR})

message("THIS_ROOT = ${THIS_ROOT}")
##################### PkgConfig BEGIN
set(MY_GST_PATH $ENV{MY_GST_PATH})
if (DEFINED MY_GST_PATH) 
    message("Env variable MY_GST_PATH=[${MY_GST_PATH}]")
else()
    message(FATAL_ERROR "Env variable MY_GST_PATH is NOT DEFINED. Falling back to defualt value")
    # set(MY_GST_PATH /home/admin1/gst/bin)
    # message("Now the value of of MY_NDI_SDK_PATH=[${MY_GST_PATH}]")
endif()
list(APPEND CMAKE_PREFIX_PATH "/usr/lib")
list(APPEND CMAKE_PREFIX_PATH "/usr/local/lib")
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
# set(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${MY_GST_PATH}/lib/pkgconfig")
find_package(PkgConfig REQUIRED)
if ( NOT (PKGCONFIG_FOUND))
    message(FATAL_ERROR "Please Install PkgConfig: CMake will Exit")
endif()
##################### PkgConfig END
##################### OpenCV BEGIN
set(OpenCV_DIR "/home/ivan/ivan/dev/opencv-4.0.0/build")
#add_library( gdal SHARED IMPORTED )
#set_target_properties( gdal PROPERTIES IMPORTED_LOCATION /usr/local/lib/libgdal.so.31 )
find_package(OpenCV 4 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# Include Sophus
include_directories("/home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Thirdparty/Sophus")
##################### OpenCV END
##################### OSC BEGIN
# TODO: Build oscpack normally in the project's directory
set(OSC_DIR thirdparty/oscpack_1_1_0)
set(OSC_LIB_DIR ${OSC_DIR}/build/Release)

include_directories(
        ${OSC_DIR}
        ${OSC_LIB_DIR})

IF(WIN32)
    set(IpSystemTypePath ${OSC_DIR}/ip/win32)
    set(LIBS ${LIBS} Ws2_32 winmm)
ELSEIF(UNIX)
    set(IpSystemTypePath ${OSC_DIR}/ip/posix)
ENDIF(WIN32)

ADD_LIBRARY(oscpack
        ${OSC_DIR}/ip/IpEndpointName.h
        ${OSC_DIR}/ip/IpEndpointName.cpp
        ${OSC_DIR}/ip/NetworkingUtils.h

        ${IpSystemTypePath}/NetworkingUtils.cpp

        ${OSC_DIR}/ip/UdpSocket.h
        ${IpSystemTypePath}/UdpSocket.cpp

        ${OSC_DIR}/ip/PacketListener.h
        ${OSC_DIR}/ip/TimerListener.h

        ${OSC_DIR}/osc/OscTypes.h
        ${OSC_DIR}/osc/OscTypes.cpp
        ${OSC_DIR}/osc/OscHostEndianness.h
        ${OSC_DIR}/osc/OscException.h
        ${OSC_DIR}/osc/OscPacketListener.h
        ${OSC_DIR}/osc/MessageMappingOscPacketListener.h
        ${OSC_DIR}/osc/OscReceivedElements.h
        ${OSC_DIR}/osc/OscReceivedElements.cpp
        ${OSC_DIR}/osc/OscPrintReceivedElements.h
        ${OSC_DIR}/osc/OscPrintReceivedElements.cpp
        ${OSC_DIR}/osc/OscOutboundPacketStream.h
        ${OSC_DIR}/osc/OscOutboundPacketStream.cpp
        )

#target_link_libraries(oscpack
#        ${OSC_LIB_DIR}/oscpack.lib)
##################### OSC END
##################### ORB_SLAM3 BEGIN
set(ORB_SLAM3_DIR /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release)
#set(Boost_INCLUDE_DIR C:/Users/ivan/Source/Repos/ORB-SLAM3forWindows/Thirdparty/boost_1_77_0)
set(Pangolin_DIR /home/ivan/ivan/git/Work DriveCast/Pangolin-0.6/build)
#set(Eigen3_DIR C:/Users/ivan/Source/Repos/ORB-SLAM3forWindows/Thirdparty/eigen/build)

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost)
find_package(realsense2)

include_directories(
        ${ORB_SLAM3_DIR}
        ${ORB_SLAM3_DIR}/include
        ${ORB_SLAM3_DIR}/include/CameraModels
        ${ORB_SLAM3_DIR}/Thirdparty/g2o
        ${EIGEN3_INCLUDE_DIR}
        ${Pangolin_INCLUDE_DIRS}
        ${Boost_INCLUDE_DIR}
        ${Boost_INCLUDE_DIR}/stage/lib
        ${Pangolin_INCLUDE_DIRS}
)
##################### ORB_SLAM3 END
##################### GStreamer BEGIN
# gstreamer-1.0
pkg_check_modules(GST REQUIRED gstreamer-1.0>=1.16.0)
include_directories("${GST_INCLUDE_DIRS}")
link_directories(BEFORE ${GST_LIBDIR})
# gstreamer-app-1.0
pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0>=1.16.0)
include_directories("${GST_APP_INCLUDE_DIRS}")
link_directories(BEFORE ${GST_APP_LIBDIR})
# gstreamer-audio-1.0
pkg_check_modules(GST_AUDIO REQUIRED gstreamer-audio-1.0>=1.16.0)
include_directories("${GST_AUDIO_INCLUDE_DIRS}")
link_directories(BEFORE ${GST_AUDIO_LIBDIR})
# gstreamer-video-1.0
pkg_check_modules(GST_VIDEO REQUIRED gstreamer-video-1.0>=1.16.0)
include_directories("${GST_VIDEO_INCLUDE_DIRS}")
link_directories(BEFORE ${GST_VIDEO_LIBDIR})
##################### GStreamer END
# dump everything
get_cmake_property(_variableNames VARIABLES)
list (SORT _variableNames)
foreach (_variableName ${_variableNames})
        message(STATUS "${_variableName}=${${_variableName}}")
endforeach()
##################### NDI Begin
set(MY_NDI_SDK_PATH $ENV{NDI_SDK_DIR})
if (DEFINED MY_NDI_SDK_PATH)
    message("Env variable MY_NDI_SDK_PATH=[${MY_NDI_SDK_PATH}]")
else()
    message("Env variable MY_NDI_SDK_PATH is NOT DEFINED. Falling back to defualt value")
    IF (WIN32)
        set(MY_NDI_SDK_PATH "C:\\Program Files\\NDI\\NDI 5 SDK")
    ELSE()
        set(MY_NDI_SDK_PATH "/home/admin1/gst/from_source/NDI_SDK_for_Linux")
    ENDIF()
    message("Now the value of MY_NDI_SDK_PATH=[${MY_NDI_SDK_PATH}]")
endif()
set(MY_NDI_INCLUDE "${MY_NDI_SDK_PATH}/include")
include_directories(${MY_NDI_INCLUDE})
IF (WIN32)
    add_library(MY_NDI_LIBS SHARED IMPORTED)
    set_target_properties(MY_NDI_LIBS PROPERTIES
        IMPORTED_LOCATION "${MY_NDI_SDK_PATH}/Bin/x64/Processing.NDI.Lib.x64.dll"
        IMPORTED_IMPLIB "${MY_NDI_SDK_PATH}/Lib/x64/Processing.NDI.Lib.x64.lib"
    )
ELSE()
    add_library(MY_NDI_LIBS SHARED IMPORTED)
    set_property(TARGET MY_NDI_LIBS
        PROPERTY IMPORTED_LOCATION "${MY_NDI_SDK_PATH}/lib/x86_64-linux-gnu/libndi.so"
    )
ENDIF()

##################### NDI End
##################### Debug Begin
#get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
#foreach(dir ${dirs})
#    message(STATUS "This directory is in INCLUDE_DIRECTORIES variable='${dir}'")
#endforeach()
##################### Debug End

add_executable(gst_ndi
    gst_ndi.h gst_ndi.cpp
)
target_link_libraries(gst_ndi ${GST_LIBRARIES})

add_executable(tutorial3 basic-tutorial-3.cpp)
target_link_libraries(tutorial3 ${GST_LIBRARIES})

add_executable(tutorial4 basic-tutorial-4.cpp)
target_link_libraries(tutorial4 ${GST_LIBRARIES})

add_executable(tutorial8 basic-tutorial-8.cpp)
target_link_libraries(tutorial8 ${GST_LIBRARIES}
        ${GST_APP_LIBRARIES}
        ${GST_AUDIO_LIBRARIES}
        ${GST_VIDEO_LIBRARIES} )

add_executable(tutorial2 basic-tutorial-2.cpp)
target_link_libraries(tutorial2 ${GST_LIBRARIES})

add_executable(tutorial1 basic-tutorial-1.cpp)
target_link_libraries(tutorial1 ${GST_LIBRARIES})

add_executable(localization
        localization.cpp
)
target_link_libraries(localization
    ${GST_LIBRARIES} ${GST_APP_LIBRARIES} ${GST_AUDIO_LIBRARIES}
    ${OpenCV_LIBRARIES}
    ${GST_VIDEO_LIBRARIES}
    oscpack
    gdal
    ${LIBS}

    ${EIGEN3_LIBS}
    ${Pangolin_LIBRARIES}
    ${Boost_LIBS}
    ${ORB_SLAM3_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
    ${ORB_SLAM3_DIR}/Thirdparty/g2o/lib/libg2o.so
    ${ORB_SLAM3_DIR}/lib/libORB_SLAM3.so
    -lboost_serialization
    -lcrypto

)

add_executable(localization_ndi
        localization_ndi.cpp
        )
target_link_libraries(localization_ndi
        ${GST_LIBRARIES} ${GST_APP_LIBRARIES} ${GST_AUDIO_LIBRARIES}
        ${OpenCV_LIBRARIES}
        ${GST_VIDEO_LIBRARIES}
        MY_NDI_LIBS
        oscpack
        gdal
        ${LIBS}

        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${Boost_LIBS}
        ${ORB_SLAM3_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${ORB_SLAM3_DIR}/Thirdparty/g2o/lib/libg2o.so
        ${ORB_SLAM3_DIR}/lib/libORB_SLAM3.so
        -lboost_serialization
        -lcrypto
        )
target_include_directories(localization_ndi PRIVATE ${MY_NDI_INCLUDE})

#add_executable(try_1
# try_1.cpp
#)
#target_link_libraries(try_1
#	 ${GST_LIBRARIES} ${OpenCV_LIBRARIES} ${GST_APP_LIBRARIES}
#)

add_executable(my_ndi
    my_ndi.cpp
)
target_include_directories(my_ndi PRIVATE ${MY_NDI_INCLUDE})
target_link_libraries(my_ndi
        MY_NDI_LIBS
        ${OpenCV_LIBRARIES}
        oscpack
        )

add_executable(drawing drawing.cpp)
target_include_directories(drawing PRIVATE ${MY_NDI_INCLUDE})
target_link_libraries(drawing
        MY_NDI_LIBS
        ${Pangolin_LIBRARIES}
        ${GST_LIBRARIES} ${GST_APP_LIBRARIES} ${GST_AUDIO_LIBRARIES}
        ${OpenCV_LIBRARIES}
        ${GST_VIDEO_LIBRARIES}
        oscpack
        ${LIBS}
        ${EIGEN3_LIBS}
        )

add_executable(source
        source.cpp
)
target_include_directories(source PRIVATE ${MY_NDI_INCLUDE} ${OpenCV_INCLUDE_DIRS} )
target_link_libraries(source MY_NDI_LIBS ${OpenCV_LIBRARIES})

add_executable(imgcpy imgcpy.cpp)
target_include_directories(imgcpy PRIVATE ${OpenCV_INCLUDE_DIRS})
target_link_libraries(imgcpy ${OpenCV_LIBRARIES})

add_executable(NDIlib_Recv NDIlib_Recv.cpp)
target_include_directories(NDIlib_Recv PRIVATE ${OpenCV_INCLUDE_DIRS} ${MY_NDI_INCLUDE})
target_link_libraries(NDIlib_Recv ${OpenCV_LIBRARIES} MY_NDI_LIBS)

add_executable(NDIlib_Send_Video NDIlib_Send_Video.cpp)
target_include_directories(NDIlib_Send_Video PRIVATE ${OpenCV_INCLUDE_DIRS})
target_link_libraries(NDIlib_Send_Video ${OpenCV_LIBRARIES} MY_NDI_LIBS)


add_executable(NDIlib_Send_Video_Advanced NDIlib_Send_Video_Advanced.cpp)
target_include_directories(NDIlib_Send_Video_Advanced PRIVATE ${OpenCV_INCLUDE_DIRS})
target_link_libraries(NDIlib_Send_Video_Advanced ${OpenCV_LIBRARIES} MY_NDI_LIBS)

install(TARGETS my_ndi source localization gst_ndi
    CONFIGURATIONS Release
    RUNTIME DESTINATION ${THIS_ROOT}/../deploy-win32
)