cmake_minimum_required(VERSION 3.5)
project(depth_anything)

# Compile options
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
  set(CMAKE_CXX_EXTENSIONS OFF)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# Library
find_package(OpenCV REQUIRED)

# CUDA
include(CheckLanguage)
check_language(CUDA)
find_package(CUDA REQUIRED)

if(CMAKE_CUDA_COMPILER)
  enable_language(CUDA)
else()
  message(WARNING "CUDA is not found. preprocess acceleration using CUDA will not be available.")
endif()

if(CUDA_FOUND)
  find_library(CUBLAS_LIBRARIES cublas HINTS
    ${CUDA_TOOLKIT_ROOT_DIR}/lib64
    ${CUDA_TOOLKIT_ROOT_DIR}/lib
  )

  if(CUDA_VERBOSE)
    message(STATUS "CUDA is available!")
    message(STATUS "CUDA Libs: ${CUDA_LIBRARIES}")
    message(STATUS "CUDA Headers: ${CUDA_INCLUDE_DIRS}")
  endif()

  set(CUDA_AVAIL ON)
else()
  message(STATUS "CUDA NOT FOUND")
  set(CUDA_AVAIL OFF)
endif()

# TensorRT modules
find_library(NVINFER NAMES nvinfer)
find_library(NVONNXPARSER nvonnxparser)
find_library(NVINFER_PLUGIN NAMES nvinfer_plugin)

if(NVINFER AND NVONNXPARSER AND NVINFER_PLUGIN)
  if(CUDA_VERBOSE)
    message(STATUS "TensorRT is available!")
    message(STATUS "NVINFER: ${NVINFER}")
    message(STATUS "NVPARSERS: ${NVPARSERS}")
    message(STATUS "NVINFER_PLUGIN: ${NVINFER_PLUGIN}")
    message(STATUS "NVONNXPARSER: ${NVONNXPARSER}")
  endif()

  set(TRT_AVAIL ON)
else()
  message(STATUS "TensorRT is NOT Available")
  set(TRT_AVAIL OFF)
endif()

# try to find the CUDNN module
find_library(CUDNN_LIBRARY
  NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name}
  PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX}
  PATH_SUFFIXES lib lib64 bin
  DOC "CUDNN library."
)

if(CUDNN_LIBRARY)
  if(CUDA_VERBOSE)
    message(STATUS "CUDNN is available!")
    message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}")
  endif()

  set(CUDNN_AVAIL ON)
else()
  message(STATUS "CUDNN is NOT Available")
  set(CUDNN_AVAIL OFF)
endif()

# Dependencies
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

# Targets
include_directories(
  ${OpenCV_INCLUDE_DIRS}
  ${CUDA_INCLUDE_DIRS}
)

ament_auto_add_library(depth_anything_node_component SHARED
  src/depth_anything_node/depth_anything_node.cpp
  src/tensorrt_depth_anything/tensorrt_depth_anything.cpp
  src/tensorrt_common/tensorrt_common.cpp
  src/tensorrt_common/simple_profiler.cpp
)

target_link_libraries(depth_anything_node_component
  ${NVINFER}
  ${NVINFER_PLUGIN}
  ${NVONNXPARSER}
  ${CUDA_LIBRARIES}
  ${CUBLAS_LIBRARIES}
  ${CUDNN_LIBRARY}
)

rclcpp_components_register_node(depth_anything_node_component
  PLUGIN "depth_anything::DepthAnythingNode"
  EXECUTABLE depth_anything_node
)

# Tests
if(BUILD_TESTING)
  list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)

  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

# Package
ament_auto_package(
  INSTALL_TO_SHARE
  data
  config
  launch
)