CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(ObjSLAM)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

# ======  start c++ compile  ======

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)


find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(CSparse REQUIRED)
find_package(PCL 1.2 REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${CSPARSE_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/ORBextractor.cc
src/Converter.cc
src/Map.cc
src/Optimizer.cc
src/Frame.cc

src/cvplot/color.cc
src/cvplot/figure.cc
src/cvplot/highgui.cc
src/cvplot/window.cc
src/cvplot/internal.h

src/yaml_reader.cpp
src/Obj.cpp
src/KeyP.cpp
src/ObjFlow.cpp
)

target_link_libraries(
${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${CSPARSE_LIBRARY}
# for mac os (default)
#${PROJECT_SOURCE_DIR}/dependencies/g2o/lib/libg2o.dylib
# for linux (ubuntu)
${PROJECT_SOURCE_DIR}/dependencies/g2o/lib/libg2o.so
${PCL_LIBRARIES}
)


# Build example

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/example)

# add_executable(vdo_slam
# example/vdo_slam.cc)
# target_link_libraries(vdo_slam ${PROJECT_NAME})

add_executable(vdo_slam_change
example/vdo_slam_change.cc)
target_link_libraries(vdo_slam_change ${PROJECT_NAME})

# add_executable(test
# example/test.cpp)
# target_link_libraries(test ${PROJECT_NAME})