function(maybe_add_static_define)
    get_filename_component(aruco-ext "${SDK_ARUCO_LIBPATH}" EXT)
    string(TOLOWER "${aruco-ext}" aruco-ext)
    if(aruco-ext STREQUAL ".lib" OR aruco-ext STREQUAL ".a")
        add_definitions(-DARUCO_STATIC)
    endif()
endfunction()


find_package(OpenCV QUIET)

if(OpenCV_FOUND)
    set(SDK_ARUCO_LIBPATH "" CACHE FILEPATH "Aruco paper marker tracker static library path")
    if(SDK_ARUCO_LIBPATH)

        maybe_add_static_define()

        set(modules "${SDK_ARUCO_LIBPATH}" opencv_calib3d opencv_imgproc opencv_core)

        get_filename_component(dir "${SDK_ARUCO_LIBPATH}" DIRECTORY)
        get_filename_component(dir "${dir}" ABSOLUTE)
        set(dir "${dir}/include")

        file(TIMESTAMP "${SDK_ARUCO_LIBPATH}" tm "%s" UTC)
        set(cache-str "${tm}^|^${SDK_ARUCO_LIBPATH}")

        if(NOT aruco_has-working-abi STREQUAL "${cache-str}")
            try_compile(result "${CMAKE_CURRENT_BINARY_DIR}"
                               SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/compile-test/abi.cpp"
                               CMAKE_FLAGS "-DINCLUDE_DIRECTORIES=${dir}"
                               OUTPUT_VARIABLE krap)
            if(NOT result)
                message(FATAL_ERROR "${krap}\n" "Must use Aruco fork from <https://github.com/opentrack/aruco>")
            endif()

            set(aruco_has-working-abi "${cache-str}" CACHE INTERNAL "" FORCE)
        endif()

        otr_module(tracker-aruco)

        target_include_directories(${self} SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS} "${dir}")
        target_link_libraries(${self} opentrack-cv opentrack-video ${modules})
    endif()
endif()