cmake_minimum_required(VERSION 3.1.0)
project(demo)

find_package(CUDA REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)

if(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL  "aarch64")
  set(CMAKE_C_COMPILER /usr/bin/aarch64-linux-gnu-gcc)
  set(CMAKE_CXX_COMPILER /usr/bin/aarch64-linux-gnu-g++)
  set(CUDA_INSTALL_TARGET_DIR targets/aarch64-linux)
elseif(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64")
  set(CMAKE_C_COMPILER /usr/bin/gcc)
  set(CMAKE_CXX_COMPILER /usr/bin/g++)
  set(CUDA_INSTALL_TARGET_DIR targets/x86_64-linux)
endif()

set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda)
set(CUDA_INCLUDE_DIRS ${CUDA_TOOLKIT_ROOT_DIR}/${CUDA_INSTALL_TARGET_DIR}/include)

set(CMAKE_BUILD_TYPE "RELEASE")
# set(CMAKE_BUILD_TYPE "DEBUG")


set(CMAKE_CXX_FLAGS_RELEASE "-Wno-deprecated-declarations -O2")

add_compile_options(-W)
add_compile_options(-std=c++14)

# set( SMS 30 32 35 37 50 52 53 60 61 62 70 72 75 86 87)
# foreach(sm ${SMS})
# 	set(GENCODE ${GENCODE} -gencode arch=compute_${sm},code=sm_${sm})
# endforeach()

# set(HIGHEST_SM 87)
# set(GENCODE ${GENCODE} -gencode arch=compute_${HIGHEST_SM},code=compute_${HIGHEST_SM})

# set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS}
#   -ccbin ${CMAKE_CXX_COMPILER}
# )

set(GENCODE ${GENCODE} -gencode arch=compute_86,code=compute_86)



if(${CMAKE_BUILD_TYPE} STREQUAL "DEBUG")
  message("Using Debug Mode")
  set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} -g -G --ptxas-options=-v)
endif()


if(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL  "aarch64")       # orin
  set(TENSORRT_INCLUDE_DIRS /usr/include/aarch64-linux-gnu/)
  set(TENSORRT_LIBRARY_DIRS /usr/lib/aarch64-linux-gnu/)
elseif(${CMAKE_HOST_SYSTEM_PROCESSOR} STREQUAL "x86_64")
  set(TENSORRT_INCLUDE_DIRS ~/software/TensorRT-8.5.3.1/include)  # your tensorrt path
  set(TENSORRT_LIBRARY_DIRS ~/software/TensorRT-8.5.3.1/lib)
endif()


set(CUDA_LIB_DIRS ${CUDA_TOOLKIT_ROOT_DIR}/${CUDA_INSTALL_TARGET_DIR}/lib)
find_library(NVJPEG_LIBRARY nvjpeg ${CUDA_LIB_DIRS})
if(NVJPEG_LIBRARY)
  add_definitions(-D__HAVE_NVJPEG__)
  link_libraries(${NVJPEG_LIBRARY})
  message(STATUS ${NVJPEG_LIBRARY})
endif()



include_directories(
  ${CUDA_INCLUDE_DIRS}
  ${TENSORRT_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIRS}
  ${PROJECT_SOURCE_DIR}/include
  ${EIGEN3_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

link_directories(
	${TENSORRT_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
)

cuda_add_executable(bevdemo 
    test/demo_bevdet.cpp 
    src/bevdet.cpp 
    src/preprocess.cu 
    src/bevpool.cu 
    src/iou3d_nms.cu
    src/postprocess.cu
    src/data.cpp
    src/grid_sampler.cu
    src/cpu_jpegdecoder.cpp
    src/nvjpegdecoder.cpp
)

target_link_libraries(bevdemo 
    yaml-cpp 
    libnvinfer.so
    libjpeg.so
    ${OpenCV_LIBS}
)

# --------------
cuda_add_executable(01test 
    test/01test.cpp 
    src/bevdet.cpp 
    src/preprocess.cu 
    src/bevpool.cu 
    src/iou3d_nms.cu
    src/postprocess.cu
    src/data.cpp
    src/grid_sampler.cu
    src/cpu_jpegdecoder.cpp
    src/nvjpegdecoder.cpp
)

target_link_libraries(01test
    yaml-cpp 
    libnvinfer.so
    libjpeg.so
    ${OpenCV_LIBS}
)

# ------------------
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})

cuda_add_executable(view
    test/view.cpp
    src/bevdet.cpp 
    src/preprocess.cu 
    src/bevpool.cu 
    src/iou3d_nms.cu
    src/postprocess.cu
    src/data.cpp
    src/grid_sampler.cu
    src/cpu_jpegdecoder.cpp
    src/nvjpegdecoder.cpp
)

target_link_libraries(view
    yaml-cpp 
    libnvinfer.so
    libjpeg.so
    ${OpenCV_LIBS}
    ${PCL_LIBRARIES}
)