SET( PROJECT_NAME robotreality_mocap )
PROJECT( ${PROJECT_NAME} )

CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
INCLUDE(FindPkgConfig)

# search for Boost version 1.34
find_package( Boost 1.40 COMPONENTS thread program_options system filesystem regex )
link_directories ( ${Boost_LIBRARY_DIRS}  )
include_directories ( ${Boost_INCLUDE_DIRS} )
#message(${Boost_LIBRARIES})


SET(PREFIX ${CMAKE_INSTALL_PREFIX})
SET(BINDIR "${PREFIX}/bin")
SET(INCLUDEDIR "${PREFIX}/include")
SET(MANDIR "${PREFIX}/man")
SET(LIBDIR "${PREFIX}/lib")
SET(PLUGINDIR "${PREFIX}/lib/iceWing")
SET(DATADIR "${PREFIX}/share/${NAME}")

#XIMU lib
PKG_CHECK_MODULES(XIMU REQUIRED libximu>=0.2)
IF (XIMU_FOUND)
  MESSAGE("Using libximu version ${XIMU_VERSION} from ${XIMU_PREFIX}")
ELSE (XIMU_FOUND)
  message(FATAL_ERROR "Error: Cannot find lib XIMU (you can download it from http://opensource.cit-ec.de)")
ENDIF (XIMU_FOUND)

#munk resolver
PKG_CHECK_MODULES(MUNKRES REQUIRED libmunkres>=0.1)
IF (MUNKRES_FOUND)
  MESSAGE("Using libmunkres version ${MUNKRES_VERSION} from ${MUNKRES_PREFIX}")
ELSE (MUNKRES_FOUND)
  message(FATAL_ERROR "Error: Cannot find libmunkres (you can download it from http://opensource.cit-ec.de)")
ENDIF (MUNKRES_FOUND)

#libtinyconfig
PKG_CHECK_MODULES(TINYCONFIG REQUIRED libtinyconfig>=0.2)
IF (TINYCONFIG_FOUND)
  MESSAGE("-- using libtinyconfig version ${TINYCONFIG_VERSION} from ${TINYCONFIG_PREFIX}")
ELSE (TINYCONFIG_FOUND)
  message(FATAL_ERROR "ERROR: Cannot find libtinyconfig")
ENDIF (TINYCONFIG_FOUND)



#XSC lib (connection to flobi robot)
PKG_CHECK_MODULES(XS2COMM libxs2comm>=0.1)
IF (XS2COMM_FOUND)
  MESSAGE("Using libxs2comm version ${XS2COMM_VERSION} from ${XS2COMM_PREFIX}")
ELSE (XS2COMM_FOUND)
  message("XS2COMM not found, disabling support for Flobi Robot")
  ADD_DEFINITIONS(-D CMAKE_XS2COMM_NOT_FOUND=1)
ENDIF (XS2COMM_FOUND)


PKG_CHECK_MODULES(OPENCV REQUIRED opencv>=2.4.2)
IF (OPENCV_FOUND)
  MESSAGE("Using opencv version ${OPENCV_VERSION} from ${OPENCV_PREFIX}")
  find_package(OpenCV 2.4.2 REQUIRED core imgproc highgui ml contrib video)
ELSE (OPENCV_FOUND)
  message(FATAL_ERROR "Error: Cannot find opencv")
ENDIF (OPENCV_FOUND)


LINK_DIRECTORIES(${LIBDIR} ${OPENCV_LIBRARY_DIRS} ${XIMU_LIBRARY_DIRS} ${MUNKRES_LIBRARY_DIRS} ${TINYCONFIG_LIBRARY_DIRS} ${XS2COMM_LIBRARY_DIRS})
INCLUDE_DIRECTORIES( ${OPENCV_INCLUDE_DIRS} ${XIMU_INCLUDE_DIRS} ${MUNKRES_INCLUDE_DIRS} ${XS2COMM_INCLUDE_DIRS} ${TINYCONFIG_INCLUDE_DIRS})

SET(SRC_FILES
       DotTracker.cpp 
       GlobalHelpers.cpp
       RGBImageFilter.cpp
       BlobFinder.cpp
       FastBlob.cpp
       Marker.cpp
       MarkerModel.cpp
       EyeFinder.cpp
       UnitConverter.cpp
       DataOutput.cpp
       DataOutputCSV.cpp
       DataOutputLCM.cpp
       ConfigOptions.cpp 
       EyeCalib.cpp
       HeadTracker.cpp
       OutputVisualizer.cpp
)



ADD_EXECUTABLE( ${PROJECT_NAME} main.cpp ${SRC_FILES})
TARGET_LINK_LIBRARIES(  ${PROJECT_NAME}  ${OpenCV_LIBS}  ${Boost_LIBRARIES}  ${XIMU_LIBRARIES} ${TINYCONFIG_LIBRARIES}  ${MUNKRES_LIBRARIES} ${XS2COMM_LIBRARIES})

ADD_EXECUTABLE( robotreality_frame_grabber grabber.cpp )
TARGET_LINK_LIBRARIES(  robotreality_frame_grabber  ${OpenCV_LIBS} ${Boost_LIBRARIES}  ${XIMU_LIBRARIES} ${TINYCONFIG_LIBRARIES} ${MUNKRES_LIBRARIES})

ADD_EXECUTABLE( robotreality_mocap_editor editor.cpp )
TARGET_LINK_LIBRARIES(  robotreality_mocap_editor  ${OpenCV_LIBS} ${Boost_LIBRARIES} )


FILE(GLOB conf_files "${CMAKE_CURRENT_SOURCE_DIR}/config/*.mcfg")
install (FILES ${conf_files} DESTINATION etc/robotreality)

install (TARGETS robotreality_frame_grabber DESTINATION bin )
set_target_properties(robotreality_frame_grabber PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
set_target_properties(robotreality_frame_grabber PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)


install (TARGETS ${PROJECT_NAME} DESTINATION bin )
set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)


install (TARGETS robotreality_mocap_editor DESTINATION bin )
set_target_properties(robotreality_mocap_editor PROPERTIES INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
set_target_properties(robotreality_mocap_editor PROPERTIES INSTALL_RPATH_USE_LINK_PATH TRUE)