set(VIDEOTRACKER_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../videobasedtracker")
set(PROJ_FOLDER "OSVR Plugins/Unified Video-Inertial Tracker")
osvr_convert_json(org_osvr_unifiedvideoinertial_json
    org_osvr_unifiedvideoinertial.json
    "${CMAKE_CURRENT_BINARY_DIR}/org_osvr_unifiedvideoinertial_json.h")

# Be able to find our generated header file, have shared files find us, and have us find shared files.
include_directories("${CMAKE_CURRENT_BINARY_DIR}"
    "${CMAKE_CURRENT_SOURCE_DIR}"
    "${OSVR_VIDEOTRACKERSHARED_INCLUDE_DIR}")

# Make sure we can link these upcoming static libraries into a shared lib
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

add_definitions(-DOSVR_USING_EDGE_HOLE_EXTRACTOR)

add_subdirectory(ImageSources)

###
# Static library with core of the tracker
###
add_library(uvbi-core STATIC
    AngVelTools.h
    ApplyIMUToState.cpp
    ApplyIMUToState.h
    AssignMeasurementsToLeds.h
    Assumptions.h
    BodyIdTypes.h
    BeaconIdTypes.h
    BeaconSetupData.cpp
    BeaconSetupData.h
    BodyTargetInterface.h
    CannedIMUMeasurement.h
    Clamp.h
    ConfigParams.cpp
    ConfigParams.h
    CrossProductMatrix.h
    ForEachTracked.h
    HDKLedIdentifier.cpp
    HDKLedIdentifier.h
    HDKLedIdentifierFactory.cpp
    HDKLedIdentifierFactory.h
    HistoryContainer.h
    ImageProcessing.h
    ImagePointMeasurement.h
    IMUStateMeasurements.h
    LED.cpp
    LED.h
    LedIdentifier.cpp
    LedIdentifier.h
    ModelTypes.h
    PinholeCameraFlip.h
    PoseEstimator_RANSAC.cpp
    PoseEstimator_RANSAC.h
    PoseEstimator_RANSACKalman.cpp
    PoseEstimator_RANSACKalman.h
    PoseEstimator_SCAATKalman.cpp
    PoseEstimator_SCAATKalman.h
    PoseEstimatorTypes.h
    RangeTransform.h
    RoomCalibration.cpp
    RoomCalibration.h
    SpaceTransformations.h
    StateHistory.h
    TimeValueChrono.h
    TrackedBody.cpp
    TrackedBody.h
    TrackedBodyIMU.cpp
    TrackedBodyIMU.h
    TrackedBodyTarget.cpp
    TrackedBodyTarget.h
    TrackingDebugDisplay.cpp
    TrackingDebugDisplay.h
    TrackingSystem_Impl.cpp
    TrackingSystem_Impl.h
    TrackingSystem.cpp
    TrackingSystem.h
    Types.h
    UsefulQuaternions.h
    ${OSVR_VIDEOTRACKERSHARED_SOURCES_CORE})
target_compile_options(uvbi-core
    PUBLIC
    ${OSVR_CXX11_FLAGS})
target_link_libraries(uvbi-core
    PUBLIC
    ${VIDEOTRACKER_EXTRA_LIBS}
    opencv_core
    opencv_imgproc
    opencv_videoio
    osvrUtilCpp # for typedefs and boost headers
    osvrKalman
    eigen-headers
    osvrCommon # for tracing
    PRIVATE
    util-headers)
set_target_properties(uvbi-core PROPERTIES
    FOLDER "${PROJ_FOLDER}")
target_compile_definitions(uvbi-core PRIVATE OSVR_UVBI_CORE)

###
# Convenience tool to view the tracker camera using the same pipeline as the tracker plugin.
###
add_executable(uvbi-view-camera ViewTrackingCamera.cpp)
target_link_libraries(uvbi-view-camera PRIVATE uvbi-image-sources opencv_imgcodecs)
set_target_properties(uvbi-view-camera PROPERTIES
    FOLDER "${PROJ_FOLDER}")

###
# Utility to measure capture latency of the IR camera, USB stack, etc.
###
add_executable(uvbi-measure-camera-latency MeasureTrackingCameraLatency.cpp)
target_link_libraries(uvbi-measure-camera-latency PRIVATE uvbi-image-sources vendored-vrpn)
set_target_properties(uvbi-measure-camera-latency PROPERTIES
    FOLDER "${PROJ_FOLDER}")

if(BUILD_TESTING)
    ###
    # Synthetic-data verification of usage of room calibration in IMU code and IMU filtering
    ###
    add_executable(uvbi-test-imu
        TestIMU.h
        TestIMU.cpp
        TestIMU_Common.h
        TestIMU_EKF.cpp
        TestIMU_UKF.cpp)
    target_link_libraries(uvbi-test-imu PRIVATE uvbi-core osvr-catch2-interface)
    set_target_properties(uvbi-test-imu PROPERTIES
        FOLDER "${PROJ_FOLDER}")
    add_test(NAME TestIMU COMMAND uvbi-test-imu)
endif()

# "object library" for the HDK data files.
add_library(uvbi-hdkdata OBJECT ${OSVR_VIDEOTRACKERSHARED_SOURCES_HDKDATA})
target_compile_options(uvbi-hdkdata
    PUBLIC
    ${OSVR_CXX11_FLAGS})
target_include_directories(uvbi-hdkdata
    PUBLIC
    ${OpenCV_INCLUDE_DIRS})
set_target_properties(uvbi-hdkdata PROPERTIES
    FOLDER "${PROJ_FOLDER}")

osvr_add_plugin(NAME org_osvr_unifiedvideoinertial
    CPP # indicates we'd like to use the C++ wrapper
    SOURCES
    org_osvr_unifiedvideoinertial.cpp
    "${CMAKE_CURRENT_BINARY_DIR}/org_osvr_unifiedvideoinertial_json.h"
    AdditionalReports.h
    ConfigurationParser.h
    MakeHDKTrackingSystem.h
    ImageProcessingThread.cpp
    ImageProcessingThread.h
    IMUMessage.h
    ProcessIMUMessage.h
    ThreadsafeBodyReporting.cpp
    ThreadsafeBodyReporting.h
    TrackerThread.cpp
    TrackerThread.h
    $<TARGET_OBJECTS:uvbi-hdkdata>
    ${OSVR_VIDEOTRACKERSHARED_SOURCES_IO})

target_link_libraries(org_osvr_unifiedvideoinertial
    osvr::osvrAnalysisPluginKit
    uvbi-core
    uvbi-image-sources
    JsonCpp::JsonCpp
    util-headers
    folly-headers)

set_target_properties(org_osvr_unifiedvideoinertial PROPERTIES
    FOLDER "${PROJ_FOLDER}")


if(BUILD_ADVANCED_DEV_TOOLS)
    add_subdirectory(ParameterFinder)
    add_subdirectory(OfflineProcessing)
endif()