SET (LIBNAME ${EXTRALIBNAME}aruco)

# OpenCV
find_package(OpenCV 3.3.1 QUIET
             COMPONENTS
             core imgcodecs videoio features2d calib3d highgui)
if(NOT OpenCV_FOUND)
    find_package(OpenCV 4.0 REQUIRED
                 COMPONENTS
                 core imgcodecs videoio features2d calib3d highgui)
    if(NOT OpenCV_FOUND)
        message(FATAL_ERROR "OpenCV >= 3.3.1 not found")
    endif()
endif()
message(STATUS "Use OpenCV ${OpenCV_VERSION}")

find_package(Eigen3 REQUIRED)

include_directories(. ${EIGEN3_INCLUDE_DIR})

SET(sources
    cameraparameters.cpp  debug.cpp             dictionary.cpp       ippe.cpp    markerdetector.cpp       markerlabeler.cpp  posetracker.cpp
    cvdrawingutils.cpp    dictionary_based.cpp   marker.cpp  markerdetector_impl.cpp  markermap.cpp  fractaldetector.cpp
    )
SET(headers
    aruco_cvversioning.h  cameraparameters.h  dictionary_based.h  ippe.h            markerdetector_impl.h  markermap.h    timers.h
    aruco_export.h        cvdrawingutils.h    dictionary.h        levmarq.h         marker.h               picoflann.h
    aruco.h               debug.h               markerdetector.h  markerlabeler.h        posetracker.h fractaldetector.h
    )
 set(fractal_sources
    fractallabelers/fractalposetracker.cpp
    fractallabelers/fractalmarkerset.cpp
    fractallabelers/fractalmarker.cpp
    fractallabelers/fractallabeler.cpp
    )
set(fractal_headers   
    fractallabelers/fractalposetracker.h
    fractallabelers/fractalmarkerset.h
    fractallabelers/fractalmarker.h
    fractallabelers/fractallabeler.h
    )

set(dcf_sources
    dcf/dcfmarkermaptracker.cpp  dcf/dcfmarkertracker.cpp  dcf/dcf_utils.cpp  dcf/trackerimpl.cpp    )
set(dcf_headers
    dcf/dcfmarkermaptracker.h  dcf/dcfmarkertracker.h  dcf/dcf_utils.h  dcf/trackerimpl.h)

add_library(${LIBNAME} ${sources} ${headers} ${fractal_sources} ${fractal_headers} ${dcf_sources} ${dcf_headers})
 
set_target_properties(${LIBNAME} PROPERTIES          # create *nix style library versions + symbolic links
    DEFINE_SYMBOL ARUCO_DSO_EXPORTS
    VERSION ${PROJECT_VERSION}
    SOVERSION ${PROJECT_SOVERSION}
    CLEAN_DIRECT_OUTPUT 1                       # allow creating static and shared libs without conflicts
    OUTPUT_NAME "${LIBNAME}${PROJECT_DLLVERSION}"    # avoid conflicts between library and binary target names
)

target_link_libraries(${LIBNAME} PUBLIC opencv_core)
IF(BUILD_SVM)
add_definitions(USE_SVM_LABELER)
    target_link_libraries(${LIBNAME} PRIVATE opencv_imgproc opencv_calib3d opencv_features2d opencv_ml)
else()
    target_link_libraries(${LIBNAME} PRIVATE opencv_imgproc opencv_calib3d opencv_features2d )
endif()

INSTALL(TARGETS ${LIBNAME}
    RUNTIME DESTINATION bin COMPONENT main			# Install the dll file in bin directory
    LIBRARY DESTINATION lib PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE COMPONENT main
    ARCHIVE DESTINATION lib COMPONENT main)			# Install the dll.a file in lib directory

IF(ARUCO_DEVINSTALL)
   install(FILES ${headers}  DESTINATION include/aruco)
   install(FILES ${fractal_headers} DESTINATION include/aruco/fractallabelers)
   install(FILES ${dcf_headers} DESTINATION include/aruco/dcf)
ENDIF()