meson.build

project('percep_obs_detect', 'cuda', 'cpp')

#cuda_comp = meson.get_compiler('cuda')
#cuda = import('unstable-cuda')

#cuda = dependency('cuda', version : '>=10', modules : ['cublas'])
#all_deps = [cuda]
all_deps = []
lcm = dependency('lcm')

with_zed = get_option('with_zed')
vm_config = get_option('vm_config')

incdir = include_directories('include/')
#zed_dep = dependency('ZED', method : 'auto')
#all_deps = [zed_dep]

if with_zed

    zed_include_dirs = include_directories('/usr/local/zed/include', '/usr/local/cuda/include', '/usr/local/cuda/samples/common/inc')
    zed = declare_dependency(
        include_directories : zed_include_dirs,
        link_args : [
            # ZED SDK
            '-L/usr/local/zed/lib',
            '-lsl_zed',

            # CUDA 
            '-L/usr/local/cuda/lib64',
            '-lcuda', '-lnppial', '-lnppisu', '-lnppicc',
            '-lnppicom', '-lnppidei', '-lnppif', '-lnppig',
            '-lnppim', '-lnppist', '-lnppitc', '-lnppc'

        ])
    all_deps = [zed]
endif

if not vm_config

    obs_include_dirs = include_directories('/usr/local/include/pcl-1.11', 
        '/usr/local/include/eigen3', '/usr/include/boost', '/usr/local/include/vtk-8.2', '/usr/include/flann')
        obs = declare_dependency(
        include_directories : obs_include_dirs,
        link_args : [
            # PCL
                '-L/usr/local/lib',
                '-lpcl_common', '-lpcl_visualization', '-lpcl_filters', '-lpcl_segmentation', '-lpcl_search', '-lpcl_kdtree', '-lpcl_sample_consensus',
                '-lpcl_io','-lboost_system','-lvtksys-8.2', '-lvtkRenderingCore-8.2', '-lvtkCommonCore-8.2',
                '-lvtkCommonDataModel-8.2', '-lvtkCommonMath-8.2', '-lvtkFiltersCore-8.2', '-lvtkCommonExecutionModel-8.2', '-lvtkFiltersGeometry-8.2', 
                '-lpthread', '-lGL', '-lglut', '-lGLEW'
        ])
        all_deps += [obs]

elif vm_config

	obs_include_dirs = include_directories('/usr/local/include/pcl-1.11', 
	'/usr/local/include/eigen3', '/usr/include/boost', '/usr/include/vtk-6.3', '/usr/include/flann')
	obs = declare_dependency(
	include_directories : obs_include_dirs,
	link_args : [
		# PCL
			'-L/usr/local/lib',
			'-lpcl_common', '-lpcl_visualization', '-lpcl_filters', '-lpcl_segmentation', '-lpcl_search', '-lpcl_kdtree', '-lpcl_sample_consensus',
			'-lpcl_io','-lboost_system','-lvtksys-6.3', '-lvtkRenderingCore-6.3', '-lvtkCommonCore-6.3',
			'-lvtkCommonDataModel-6.3', '-lvtkCommonMath-6.3', '-lvtkFiltersCore-6.3', '-lvtkCommonExecutionModel-6.3', '-lvtkFiltersGeometry-6.3',
			'-lpthread', '-lGL', '-lglut', '-lGLEW'
	])
	all_deps += [obs]

endif

# Helfupl cuda build flags
debug_args = [ '-res-usage', '-g']
speed_args = ['--use_fast_math']

# Not sure if the arch_args help at all. Might be worth investigating
# These are specific to GPU. If you run deviceQuery and see your compute compatibility the major/minor corresponds to the numver listed below
# My compute compatibility for these flags was 7.5
arch_args = ['-arch=compute_75', '-code=sm_75', '--use_fast_math'] # this is breaking things on great lakes, its prob the wrong version like you said but we should automate that
#arch_args = []
all_deps+=[lcm]

# disables all warns, ideally we'd like warns for our own code, but the log spam is unbearable
# TODO don't do this 
add_global_arguments('-w', language : 'cpp')
add_global_arguments('-w', language : 'cuda')


exe = executable('percep_obs_detect', 'src/find-clear.cu', 'src/euclidean-cluster.cu', 'src/common.cu', 'src/filter.cu', 'src/obs-detector.cpp',  'src/GLViewer.cpp', 
                'src/pass-through.cu', 'src/pcl.cpp', 'src/plane-ransac.cu', 'src/voxel-grid.cu', install : true, dependencies : all_deps, include_directories : incdir,
                cuda_args : arch_args )
#exe = executable('jetson_obs_detector', 'src/driver.cpp' , install : true, dependencies : all_deps, include_directories : incdir)