CMakeLists.txt

project(Matterport_Simulator CXX)
cmake_minimum_required(VERSION 2.8)

option(OSMESA_RENDERING "Render offscreen with OSMesa" ON)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

include_directories("${PROJECT_SOURCE_DIR}/include")

find_package(OpenCV REQUIRED)
#find_package(OpenCV REQUIRED
#    PATHS "/home/dfried/lib/opencv/build/lib/")
#message(status "opencv libs: ${OpenCV_LIBS}")
#set(OpenCV_LIBS "/home/dfried/lib/opencv/build/lib/")
find_package(PkgConfig REQUIRED)

pkg_check_modules(JSONCPP REQUIRED jsoncpp)

if(OSMESA_RENDERING)
  pkg_check_modules(OSMESA REQUIRED osmesa)
  set(GL_LIBS ${OSMESA_LIBRARIES})
else()
    #set(OPENGL_LIBRARIES "/usr/include/GL")
  #set(GLEW_LIBRARIES "/usr/include/GL")
  set(GLEW_LIBRARIES "/usr/lib/x86_64-linux-gnu/libGLEW.so")
  set(OPENGL_LIBRARIES "/usr/lib/x86_64-linux-gnu/libglut.so")
    #find_package(OpenGL REQUIRED)
    # find_package(GLEW REQUIRED)
  set(GL_LIBS ${OPENGL_LIBRARIES} ${GLEW_LIBRARIES})
endif()

add_library(MatterSim SHARED src/lib/MatterSim.cpp src/lib/Benchmark.cpp)
if(OSMESA_RENDERING)
  target_compile_definitions(MatterSim PUBLIC "-DOSMESA_RENDERING")
endif()
target_include_directories(MatterSim PRIVATE ${JSONCPP_INCLUDE_DIRS})
target_link_libraries(MatterSim ${JSONCPP_LIBRARIES} ${OpenCV_LIBS} ${GL_LIBS})

add_executable(tests src/test/main.cpp)
target_include_directories(tests PRIVATE ${JSONCPP_INCLUDE_DIRS})
target_link_libraries(tests MatterSim ${JSONCPP_LIBRARIES} ${OpenCV_LIBS})

add_executable(mattersim_main src/driver/mattersim_main.cpp)
target_link_libraries(mattersim_main MatterSim)

add_executable(random_agent src/driver/random_agent.cpp)
target_link_libraries(random_agent MatterSim)

#set(PYTHON_EXECUTABLE "/home/dfried/anaconda2/envs/m3d3/bin/python")
#set(PYTHON_EXECUTABLE "/home/dfried/anaconda2/bin/python")
#set(PYTHON_INCLUDE_DIR "/home/dfried/anaconda2/include")
#set(PYTHON_LIBRARY "/home/dfried/anaconda2/lib")

#find_package(PythonInterp 2.7)
# message(${PYTHON_EXECUTABLE})

add_subdirectory(pybind11)

# 
# # Need to search for python executable again to pick up an activated
# # virtualenv python, if any.
# unset(PYTHON_EXECUTABLE CACHE)
# find_program(PYTHON_EXECUTABLE python
#       PATHS ENV PATH         # look in the PATH environment variable
#       NO_DEFAULT_PATH        # do not look anywhere else...
#       )
# Make FindNumPy available
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake")
find_package(NumPy REQUIRED)

pybind11_add_module(MatterSimPython src/lib_python/MatterSimPython.cpp)
target_include_directories(MatterSimPython PRIVATE ${NUMPY_INCLUDES})
target_link_libraries(MatterSimPython PRIVATE MatterSim)
set_target_properties(MatterSimPython
  PROPERTIES
  OUTPUT_NAME MatterSim)